Linux for Robotics – Foundations

Linux for Robotics – 4-Month Self-Study Course

Syllabus

Course Description:
This comprehensive 4-month self-study course, “Linux for Robotics,” is meticulously designed for motivated beginners and intermediate learners aspiring to master the essential Linux skills crucial for robotics development. From foundational concepts of the Linux operating system to advanced command-line techniques, scripting, and system management, this course offers a practical and engaging journey into the heart of robotic control and programming environments. You will acquire the expertise to confidently navigate the Linux filesystem, efficiently manage processes, configure network settings, install and manage software, and establish robust development workflows vital for any robotics endeavor. Through hands-on examples and a culminating final project, you will gain the confidence and proficiency to effectively utilize Linux as your primary platform for robotics.

Primary Learning Objectives:
Upon successful completion of this course, students will be able to:
Confidently navigate and manage the Linux filesystem using command-line tools.
Understand and effectively utilize core Linux commands for system monitoring, process management, and file manipulation.
Write basic and intermediate shell scripts to automate repetitive tasks within a robotics context.
Install, configure, and manage software packages specifically relevant to robotics development.
Efficiently manage users, permissions, and network settings on a Linux system.
Troubleshoot common Linux issues and apply best practices for system maintenance.
Set up and manage a Linux development environment optimally suited for ROS/ROS2.
Use version control (Git) to manage code and configurations.
Apply learned Linux skills to a practical robotics project, demonstrating advanced proficiency in system setup and operation.

Necessary Materials:
A computer (laptop or desktop) capable of running a Linux distribution (e.g., Ubuntu LTS).
Stable internet connection for downloading software and accessing online resources.
Virtualization software (e.g., VirtualBox, VMware Workstation Player) if opting to run Linux in a virtual machine.
A versatile text editor (e.g., VS Code, Vim, Nano) for scripting and configuration.
A strong willingness to experiment, explore, and troubleshoot!

Course Structure (16 Weeks):
Weeks 1-14: Core Lessons (One per week)
Week 15: Final Project Work
Week 16: Final Project Completion & Course Review

Learning Objectives:
Understand the historical context and fundamental philosophy underpinning Linux.
Identify and articulate why Linux stands as the dominant operating system in the robotics industry.
Learn how to effectively set up a Linux development environment (via virtual machine or dual boot).

Key Vocabulary:
Operating System (OS): Software that manages computer hardware and software resources, providing common services for computer programs.
Kernel: The core component of an operating system. It is the central module that manages the system’s resources, acting as a bridge between applications and the hardware.
Distribution (Distro): A complete operating system built upon the Linux kernel, which includes a package management system and a collection of software (e.g., Ubuntu, Fedora, Debian).
Virtual Machine (VM): A software-based emulation of a complete computer system, allowing you to run an OS within another OS.
Dual Boot: The configuration of installing two operating systems on a single computer, allowing the user to select which one to boot into at startup.

Learning Objectives:
Thoroughly understand the standard Linux filesystem hierarchy (FHS).
Master essential command-line commands for navigating directories and effectively listing files.
Accurately identify and differentiate between absolute and relative paths.

Key Vocabulary:
Filesystem Hierarchy Standard (FHS): A definitive standard that outlines the directory structure and content conventions across Linux distributions.
Root Directory (`/`): The absolute top-level directory from which all other directories branch in the Linux filesystem.
Home Directory (`~`): The default directory assigned to a user upon successful login, typically located at `/home/username`.
Absolute Path: A complete file or directory path that originates from the root directory (e.g., `/home/user/documents`).
Relative Path: A file or directory path that is specified in relation to the current working directory (e.g., `documents/report.txt`).
Current Working Directory (CWD): The directory that the user is presently operating within.

Lesson Content:
The Linux filesystem is meticulously organized in a hierarchical tree structure, commencing from the root directory (`/`). A comprehensive understanding of this structure is paramount for efficient navigation and seamless file management. We will delve into key directories such as `/home` (for user-specific data), `/etc` (for system-wide configuration files), `/opt` (for optional third-party software), `/var` (for variable data like logs), and `/usr` (for user programs and shared libraries).

You will gain practical experience with fundamental commands including `pwd` (print working directory), `ls` (list directory contents), and `cd` (change directory). We will explore various options (flags) for `ls` to enable viewing of hidden files (`-a`), understanding file permissions (`-l`), and displaying sizes in a human-readable format (`-h`). The critical distinction between absolute and relative paths will also be elucidated, which is indispensable for writing robust scripts and precisely specifying file locations.

Practical Hands-on Examples:
1. Basic Navigation: Open your terminal. Use `pwd` to ascertain your current directory. Use `cd /` to go to the root directory, then `ls` to see its contents. Use `cd ~` to return to your home directory.
2. Path Navigation: Navigate to `/etc` using an absolute path: `cd /etc`. Now, navigate from `/etc` to your home directory’s Documents folder using an absolute path (e.g., `cd /home/your_username/Documents`).
3. Listing Files: From your home directory, use `ls` to list files. Now try `ls -l` for a detailed long format, `ls -a` to reveal hidden files (those starting with a `.`), and `ls -lh` to see file sizes in a more readable format.

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Lesson 3: File and Directory Management (Week 3)

Title: Mastering Your Data: Creating, Copying, Moving, and Deleting

Learning Objectives:
Execute fundamental file and directory operations: creation, copying, moving/renaming, and deletion.
Grasp the concept of wildcards for efficient and pattern-based file selection.
Learn how to locate files and directories effectively across your system.

Key Vocabulary:
`touch`: A command primarily used to create empty files or to update the access and modification timestamps of existing files.
`cp` (Copy): A command used to duplicate files and directories.
`mv` (Move): A command used to relocate or rename files and directories.
`rm` (Remove): A command used to delete files. Use with caution!
`mkdir` (Make Directory): A command to create new directories.
Wildcard: A special character (like `` or `?`) that can represent one or more other characters in a command, used for pattern matching.
`find`: A powerful command-line utility for searching for files and directories based on various criteria.

Crucially, we’ll discuss the `rm` command for deletion. This command is powerful and permanent—there is no Recycle Bin on the command line, so we’ll emphasize careful usage. To make these commands even more potent, you’ll learn about wildcards. For example, `.txt` can match all files ending in `.txt`, allowing you to operate on multiple files at once. Finally, we’ll introduce the `find` command, an essential tool for locating files anywhere on your system based on name, size, modification time, and more.

Practical Hands-on Examples:
1. Create a Project Structure: In your home directory, create a new directory called `robotics_project`. Inside it, create subdirectories `src`, `config`, and `logs`. Navigate into the `logs` directory and create two empty files: `sensor_data.log` and `motor_control.log` using `touch`.
2. Copy and Move: Copy the `sensor_data.log` file into the `config` directory. Then, rename the original `sensor_data.log` inside `logs` to `sensor_data_archive.log` using `mv`.
3. Use Wildcards and Delete: In the `config` directory, create a few more empty files: `params.yaml`, `camera.yaml`, `lidar.yaml`. Use a wildcard to copy all `.yaml` files back to the `robotics_project` top-level directory: `cp *.yaml ..`. Now, use `rm` to delete the `sensor_data.log` from the `config` directory.
4. Find a File: Go to your home directory (`cd ~`). Use the `find` command to locate the `camera.yaml