full version

.latexmkrc

@@ -3,8 +3,8 @@ $out_dir = 'build';
 $pdflatex = 'lualatex -pdflatex=lualatex -interaction=nonstopmode -halt-on-error -shell-escape -synctex=1 %O %S';
 $default_files = ('main.tex');
 $pdf_previewer = 'zathura';
-$pdf_update_method = 1;
-$preview_continuous_mode = 1;
-$sleep_time = 1;
+#$pdf_update_method = 1;
+#$preview_continuous_mode = 1;
+#$sleep_time = 1;
 ensure_path( 'TEXINPUTS', './mum-theme-beamer//' );
 

code-block-settings.tex

@@ -0,0 +1,27 @@
+% !TEX root=main.tex
+\usepackage[outputdir=build]{minted}
+\usepackage{tcolorbox}
+\usepackage{etoolbox}
+\tcbuselibrary{minted,skins,breakable}
+
+\makeatletter
+\renewenvironment{minted@colorbg}[1]{
+\setlength{\fboxsep}{\z@}
+\def\minted@bgcol{#1}
+\noindent
+\begin{lrbox}{\minted@bgbox}
+\begin{minipage}{\linewidth}}
+{\end{minipage}
+\end{lrbox}%
+\colorbox{\minted@bgcol}{\usebox{\minted@bgbox}}}
+\makeatother
+
+\usemintedstyle{friendly}
+\newminted[pythoncode]{python}{frame=single, framesep=2pt, numbersep=1mm, linenos, fontsize=\tiny, escapeinside=||, bgcolor=black!10}
+
+\def\theFancyVerbLine{%
+	\ttfamily\tiny\arabic{FancyVerbLine}%
+	%{\tikz[remember picture,overlay]\node(minted-\arabic{FancyVerbLine}){};}%
+}
+
+

main.tex

@@ -1,18 +1,269 @@
 \documentclass[aspectratio=169]{beamer}
 \usepackage{mum-theme-beamer/mum-theme}
+\usepackage{graphicx}
+\input{code-block-settings.tex}
+\input{tikz-settings.tex}
 
-\title{My Title}
-\subtitle{My Subtitle}
-\date{03.11.2023}
-\author[Short Author Name]{Long Author Name}
+\title{Getting Started}
+\subtitle{Introduction into ROS}
+\date{24.10.2024}
+\author[\textbf{L. Alff}, N. Bauschmann, D.A. Duecker]{Lennart Alff, Nathalie Bauschmann, Daniel Duecker}
 \institute[TUHH]{Hamburg University of Technology}
 
+\renewcommand<>{\fbox}[1]{\alt#2{\fcolorbox{black}{white}{#1}}{\fcolorbox{white}{white}{#1}}}
+
 \begin{document}
 \begin{frame}
 	\titlepage
 \end{frame}
+
 \begin{frame}
-	\frametitle{First Slide Title}
-    Content of First Slide
+	\frametitle{Motivation}
+
+    \fbox<3->{\begin{minipage}[]{0.45\textwidth}
+        \onslide<1->{\textbf{Scenario:}}
+        \begin{itemize}
+            \item<1-> Mobile robot with a camera
+        \end{itemize}
+        \onslide<2->{\textbf{Goal:}}
+        \begin{itemize}
+            \item<2-> Autonomous navigation
+        \end{itemize}
+\end{minipage}}
+    \begin{minipage}[]{0.45\textwidth}
+        \centering
+        \includegraphics<1->[width=0.7\textwidth]{images/robot-bin.png}
+\end{minipage}\\
+\vspace{2mm}
+
+\visible<4->{\begin{minipage}{\textwidth}
+        \begin{tikzpicture}[node distance=8mm and 10mm]
+            \node[fill=white] (camera) [rosnode]{Camera};
+            \node[fill=white] (image) [rostopic, right=of camera, xshift=10mm]{Image};
+            \node[fill=white] (localization) [rosnode, right=of image]{Localization};
+            \node[fill=white] (position) [rostopic, right=of localization]{Position};
+            \node[fill=white] (controller) [rosnode, below=of position]{Controller};
+            \node[fill=white] (motor-commands) [rostopic, left=of controller]{Motor Commands};
+            \node[fill=white] (motor-drivers) [rosnode, below=of camera]{Motor Drivers};
+            \begin{scope}[on background layer]
+                \draw[thick, rounded corners=2mm, fill=blue!10] ($(camera.north west)+(-1.5, 0.5)$) rectangle ($(motor-drivers.south east)+(1.0,-0.5)$);
+                \draw[thick, rounded corners=2mm, fill=green!10] ($(image.north west)+(-0.5, 0.5)$) rectangle ($(controller.south east)+(0.5,-0.5)$);
+            \end{scope}
+            \path[-latex, thick] (camera) edge (image)
+                (image) edge (localization)
+                (localization) edge (position)
+                (position) edge (controller)
+                (controller) edge (motor-commands)
+                (motor-commands) edge (motor-drivers)
+                ;
+            % align needed for line break
+            \node (env)[above=of camera, yshift=-4.5mm, align=center]{Interaction with\\Environment};
+            \node (env)[above=of localization, yshift=-4mm, align=center]{Internal Processing};
+
+        \end{tikzpicture}
+    \end{minipage}
+}
 \end{frame}
+
+\begin{frame}
+    \frametitle{How to do it?}
+    
+    \onslide<1->\textbf{\Large Naive Approach:}
+    \begin{itemize}
+        \item<2->Single monolithic program
+            \begin{itemize}
+                \item<3-> scales badly
+                \item<3->hard to introspect/debug
+                \item<3->what if multiple computers/devices used?
+            \end{itemize}
+    \end{itemize}
+    \vspace{5mm}
+
+    \onslide<4->\textbf{\Large Better Approach:}
+    \begin{itemize}
+        \item<5-> Use ROS $\Rightarrow$ write small programs
+            \begin{itemize}
+                \item<6->solve big problems by subdividision (divide \& conquer)
+                \item<7->ROS brings a lot of utility
+                    \begin{itemize}
+                        \item<8-> plotting
+                        \item<9-> logging
+                        \item<10-> ...
+                    \end{itemize}
+            \end{itemize}
+    \end{itemize}
+\end{frame}
+
+\begin{frame}
+    \frametitle{From Theory to Practice}
+    \centering
+    \textbf{\Huge From zero to depth!}
+\end{frame}
+
+\begin{frame}[fragile]
+    \frametitle{Hello World}
+    \begin{pythoncode}
+print('hello world!')
+    \end{pythoncode}
+\end{frame}
+
+\begin{frame}[fragile]
+    \frametitle{Hello World With Good Practice}
+    \begin{pythoncode}
+def main():
+    print('hello world')
+
+
+if __name__ == '__main__':
+    main()
+    \end{pythoncode}
+    \pause
+    \vspace{5mm}
+    \begin{itemize}[<+->]
+        \item not strictly required but a convention
+        \item analog to the \texttt{int main()} in C/C++
+    \end{itemize}
+\end{frame}
+
+\begin{frame}[fragile]
+    \frametitle{First Contact with ROS}
+    \begin{minipage}{0.48\textwidth}
+        \begin{pythoncode}
+import rclpy
+from rclpy.node import Node
+
+
+def main():
+    rclpy.init()
+    node = Node(node_name='my_node')
+    rclpy.spin(node)
+
+
+if __name__ == '__main__':
+    main()
+        \end{pythoncode}
+    \end{minipage}
+    \begin{minipage}{0.48\textwidth}
+        \begin{itemize}[<+->]
+            \item minimal ROS program 
+            \item the generic \texttt{Node} does nothing on its own
+            \begin{itemize}[<+->]
+                \item not particularly useful
+            \end{itemize}
+        \end{itemize}
+        \vspace{10mm}
+        \pause
+        \textbf{\Large $\Rightarrow$ we implement our own node!}
+    \end{minipage}
+\end{frame}
+
+\begin{frame}[fragile]
+    \frametitle{Our First Custom Node}
+    \begin{minipage}{0.48\textwidth}
+        \begin{pythoncode}
+import rclpy
+from rclpy.node import Node
+
+class DepthCalculatorNode(Node):
+
+    def __init__(self):
+        super().__init__(node_name='my_node')
+
+
+def main():
+    rclpy.init()
+    node = DepthCalculatorNode()
+    rlcpy.spin(node)
+
+
+if __name__ == '__main__':
+    main()
+        \end{pythoncode}
+    \end{minipage}
+    \begin{minipage}{0.48\textwidth}
+        \pause
+        \begin{itemize}[<+->]
+            \small
+            \item our custom node does exactly the same as the generic \texttt{rclpy.Node} $\rightarrow$ \textbf{nothing}
+            \item this is the boilerplate code we need for every node we write
+            \item doing nothing $\neq$ not beeing able to do something
+        \end{itemize}
+        \vspace{5mm}
+        \pause
+        \textbf{Provides us with these functions:}
+        \begin{itemize}[<+->]
+            \small
+            \item \texttt{create\_publisher}
+            \item \texttt{create\_subscription}
+            \item \texttt{create\_timer}
+            \item \texttt{get\_logger}
+            \item \texttt{get\_clock}
+        \end{itemize}
+    \end{minipage}
+\end{frame}
+
+\begin{frame}[fragile]
+    \frametitle{Receiving Pressure Measurements}
+    \begin{pythoncode}
+import rclpy
+from rclpy.node import Node
+from sensor_msgs.msg import FluidPressure
+
+class DepthCalculatorNode(Node):
+
+    def __init__(self):
+        super().__init__(node_name='my_node')
+
+        self.pressure_sub = self.create_subscription(FluidPressure, 'pressure',
+                                                     self.on_pressure, 1)
+
+    def on_pressure(self, msg: FluidPressure):
+        self.get_logger().info('Pressure measurement received')
+
+
+def main():
+    ...
+    \end{pythoncode}
+\end{frame}
+
+\begin{frame}[fragile]
+    \frametitle{Publishing Depth Values}
+    
+    \begin{pythoncode}
+import rclpy
+from hippo_msgs.msg import DepthStamped
+from rclpy.node import Node
+from sensor_msgs.msg import FluidPressure
+
+class DepthCalculatorNode(Node):
+
+    def __init__(self):
+        super().__init__(node_name='my_node')
+
+        self.pressure_sub = self.create_subscription(FluidPressure, 'pressure',
+                                                     self.on_pressure, 1)
+        self.depth_pub = self.create_publisher(DepthStamped, 'depth', 1)
+
+    def on_pressure(self, msg: FluidPressure):
+        self.get_logger().info('Pressure measurement received')
+        pressure = msg.fluid_pressure
+        depth = self.pressure_to_detph(pressure)
+
+        depth_msg = DepthStamped() # do not forget the parentheses!
+        depth_msg.header.stamp = msg.header.stamp
+        depth_msg.depth = depth
+
+        self.depth_pub.publish(depth_msg)
+
+    def pressure_to_depth(self, pressure):
+        depth = ???
+        return depth
+
+
+
+def main():
+    ...
+    \end{pythoncode}
+\end{frame}
+
 \end{document}

tikz-settings.tex

@@ -0,0 +1,13 @@
+\usepackage{tikz}
+\usetikzlibrary{shapes.geometric, arrows, calc, chains, backgrounds}
+\usetikzlibrary{overlay-beamer-styles}
+
+\tikzset{
+  rosbase/.style={minimum width=20mm, minimum height=7.5mm, text centered, draw=black, align=center},
+  startstop/.style={rectangle, rounded corners, rosbase, fill=red!30},
+  rostopic/.style={rectangle, rosbase},
+  rosnode/.style={ellipse,rosbase},
+  arrow/.style={thick,->,>=stealth},
+}
+
+