RoPod/Tutorials/Commands cheat sheet: Difference between revisions
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| '''Command''' | | '''Command''' | ||
| '''Purpose''' | | '''Purpose''' | ||
|- | |||
| applications | |||
| <pre>cd $CATKIN_WORKSPACE/src/applications</pre> | |||
| Change directory to your applications folder | |||
|- | |- | ||
| buildit | | buildit | ||
| <pre>cd $CATKIN_WORKSPACE; catkin_make</pre> | | <pre>cd $CATKIN_WORKSPACE; catkin_make</pre> | ||
| Build all packages in your catkin workspace | | Build all packages in your catkin workspace | ||
|- | |||
| catkin_workspace | |||
| <pre>cd $CATKIN_WORKSPACE</pre> | |||
| Change directory to your catkin workspace | |||
|- | |- | ||
| clean_build | | clean_build | ||
| Line 17: | Line 25: | ||
cd $CATKIN_WORKSPACE; | cd $CATKIN_WORKSPACE; | ||
catkin_make;" </pre> | catkin_make;" </pre> | ||
| Remove previous build and rebuild | | 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 | | pico-wired | ||
| Line 32: | Line 57: | ||
export WIRED_CONNECTION=false;</pre> | export WIRED_CONNECTION=false;</pre> | ||
| Set the relevant ROS parameters to the wireless communication via the ropod-router | | 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 | | pstart | ||
| <pre>roslaunch pico_bringup start.launch</pre> | | <pre>roslaunch pico_bringup start.launch</pre> | ||
| Start all the communication with the hardware on pico | | 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>> | | teleop <<robotname>> | ||
| Line 43: | Line 80: | ||
|} | |} | ||
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]]. | |||
Latest revision as of 10:53, 13 October 2017
| Alias | Command | Purpose |
| applications | cd $CATKIN_WORKSPACE/src/applications |
Change directory to your applications folder |
| buildit | cd $CATKIN_WORKSPACE; catkin_make |
Build all packages in your catkin workspace |
| catkin_workspace | cd $CATKIN_WORKSPACE |
Change directory to your catkin workspace |
| clean_build | cd $CATKIN_WORKSPACE; rm -rf build/ devel/; cd $CATKIN_WORKSPACE/src/; rm CMakelists.txt; cd $CATKIN_WORKSPACE; catkin_make;" |
Remove previous build and rebuild catkin workspace. |
| functionalities | cd $CATKIN_WORKSPACE/src/functionalities |
Change directory to your functionalities folder |
| p-rviz | pico-core; roslaunch pico_bringup rviz.launch" |
Communicate all topics via the wireless connection and launch r-viz with its default configuration |
| pico-core | export ROS_MASTER_URI=http://192.168.44.81:11311 |
Tell that the ROS master is at Pico via the wireless connection. |
| pico-core-wired | export ROS_MASTER_URI=http://10.0.0.2:11311 |
Tell that the ROS master is at Pico via the wired connection. |
| pico-wired | export ROS_MASTER_URI=http://10.0.0.2:11311; export ROS_IP=10.0.0.2; export WIRED_CONNECTION=true |
Set the relevant ROS parameters to the wireless communication via the ropod-router |
| pico-wireless | export ROS_MASTER_URI=http://192.168.44.81:11311; export ROS_IP=192.168.44.81; export WIRED_CONNECTION=false; |
Set the relevant ROS parameters to the wireless communication via the ropod-router |
| platform | cd $CATKIN_WORKSPACE/src/platform |
Change directory to your platform folder |
| pstart | roslaunch pico_bringup start.launch |
Start all the communication with the hardware on pico |
| sshpico | ssh ropod@192.168.44.81 |
ssh to Pico via the wireless network |
| sshpico-wired | ssh ropod@10.0.0.2 |
ssh to Pico via the wired network |
| teleop <<robotname>> | rosrun robot_common teleop.py <<robotname>> |
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 this page of the EMC course.