View source for RoPod/Tutorials/Commands cheat sheet

{| border="1" cellpadding="5" cellspacing="0" align="center" style="margin-left: 3em;"
|-
| width="150" | '''Alias'''
| '''Command''' 
| '''Purpose'''
|-
| applications
| <pre>cd $CATKIN_WORKSPACE/src/applications</pre>
| Change directory to your applications folder
|-
| buildit
| <pre>cd $CATKIN_WORKSPACE; catkin_make</pre>
| Build all packages in your catkin workspace
|-
| catkin_workspace
| <pre>cd $CATKIN_WORKSPACE</pre>
| Change directory to your catkin workspace
|-
| clean_build
|  <pre>
   cd $CATKIN_WORKSPACE;
   rm -rf build/ devel/;
   cd $CATKIN_WORKSPACE/src/; 
   rm CMakelists.txt; 
   cd $CATKIN_WORKSPACE; 
   catkin_make;" </pre>
| Remove previous build and rebuild catkin workspace.
|-
| functionalities
| <pre>cd $CATKIN_WORKSPACE/src/functionalities</pre>
| Change directory to your functionalities folder
|-
| p-rviz
| <pre>pico-core;
  roslaunch pico_bringup rviz.launch"</pre>
| Communicate all topics via the wireless connection and launch r-viz with its default configuration
|-
| pico-core
| <pre> export ROS_MASTER_URI=http://192.168.44.81:11311</pre>
| Tell that the ROS master is at Pico via the wireless connection.
|-
| pico-core-wired
| <pre> export ROS_MASTER_URI=http://10.0.0.2:11311</pre>
| Tell that the ROS master is at Pico via the wired connection.
|-
| pico-wired
| <pre>
  export ROS_MASTER_URI=http://10.0.0.2:11311;
  export ROS_IP=10.0.0.2;
  export WIRED_CONNECTION=true</pre>
| Set the relevant ROS parameters to the wireless communication via the ropod-router
|-
| pico-wireless
| <pre>
  export ROS_MASTER_URI=http://192.168.44.81:11311;
  export ROS_IP=192.168.44.81;
  export WIRED_CONNECTION=false;</pre>
| Set the relevant ROS parameters to the wireless communication via the ropod-router
|-
| platform
| <pre>cd $CATKIN_WORKSPACE/src/platform</pre>
| Change directory to your platform folder
|-
| pstart
| <pre>roslaunch pico_bringup start.launch</pre>
| Start all the communication with the hardware on pico
|-
| sshpico
| <pre>ssh ropod@192.168.44.81</pre>
| ssh to Pico via the wireless network
|-
| sshpico-wired
| <pre>ssh ropod@10.0.0.2</pre>
| ssh to Pico via the wired network
|-
| teleop <<robotname>>
| <pre>rosrun robot_common teleop.py <<robotname>> </pre>
| Use your keyboard to navigate with the robot
|-
|}

In order to create some data which you can play back, you can create a ROS bag-file. You can take a look at the "Recording data"-paragraph [[ Embedded_Motion_Control/Using_Pico | this page of the EMC course]].