Please install the base ROS system according to the guide found here.

The beginner ROS tutorials given here cover the basic concepts for communication and the overall structure of a ROS program. Therefore, it is advisable to read them and try out the lessons shown there.

A familiarity with the rosbuild system and writing ROS nodes in C++ and/or Python is mandatory and important for the assignments during the seminar.

The following topics are especially important:

• Understanding ROS nodes
• Understanding Topics
• Understanding ROS Services and Parameters
• Writing a Simple Publisher and Subscriber (C++)
• Writing a Simple Service and Client (C++)
• Creating a ROS package by hand

We have created a git repository for the code that you will develop. You can find it at https://github.com/ai-seminar/group-highlevel and add it to your ROS workspace with

rosws set group_highlevel --git https://github.com/ai-seminar/group-highlevel.git
rosws update
source ~/.bashrc

Your task in the seminar will be to create two ROS packages that communicate with each other using the ROS messaging backend. A simplified simulator version will be used as you will concentrate on the communication and data handling aspects of controlling cognitive agents through a ROS interface via CRAM.

In order to get a better understanding of Lisp (and for reference purposes), the following links can support you while getting the grips of it:

• Practical Common Lisp: A good tutorial for Lisp beginners (and advanced users, as it covers a lot of material)
• Common Lisp HyperSpec: A reference index explaining lisp commands and features (manpages-like)