.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;
+$pdf_update_method = 1;
-#$preview_continuous_mode = 1;
+$preview_continuous_mode = 1;
-#$sleep_time = 1;
+$sleep_time = 1;
 ensure_path( 'TEXINPUTS', './mum-theme-beamer//' );
 

code-block-settings.tex

@@ -1,27 +0,0 @@
-% !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

@@ -1,269 +1,18 @@
 \documentclass[aspectratio=169]{beamer}
 \usepackage{mum-theme-beamer/mum-theme}
-\usepackage{graphicx}
-\input{code-block-settings.tex}
-\input{tikz-settings.tex}
 
-\title{Getting Started}
+\title{My Title}
-\subtitle{Introduction into ROS}
+\subtitle{My Subtitle}
-\date{24.10.2024}
+\date{03.11.2023}
-\author[\textbf{L. Alff}, N. Bauschmann, D.A. Duecker]{Lennart Alff, Nathalie Bauschmann, Daniel Duecker}
+\author[Short Author Name]{Long Author Name}
 \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{Motivation}
+	\frametitle{First Slide Title}
-
+    Content of First Slide
-    \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}

mum-theme-beamer

@@ -1 +0,0 @@
-Subproject commit 21d6ecc728481b664bebab10358de8e5364e9638

tikz-settings.tex

@@ -1,13 +0,0 @@
-\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},
-}
-
-