A first step guide to PhaROS

PhaROS is a collection of Pharo libraries that implements the ROS (Robot Operating System ) based client protocol. It allows developing robotic applications right in the Pharo environment by providing an abstract software layer between Pharo and ROS. This guide makes an assumption that readers already have some basic knowledge about ROS, if this is not the case, please check the following links before going any further on this page:

• http://wiki.ros.org/ROS/Tutorials
• https://www.cse.sc.edu/~jokane/agitr/agitr-letter.pdf

Controlling a Turtlebot using PhaROS: Goals planning and Automatic docking

This is a demonstration of my current work on controlling robot using ROS and PhaROS. For that task, I've developed a dedicated PhaROS package that defines:

1. A base framework for ROS based visualization such as map, robot model, robot trajectory, etc.
2. An Event-driven API for robot controlling