Revision as of 21:06, 12 June 2012

IMPORTANT

Make sure to ALWAYS obey the following rules:

If Jazz is not connected to the power supply, always hold the emergency switch (PS3 controller) and keep an eye on the robot. If you only have the slightest idea that something may go wrong, press the button (right trigger). You can release the emergency switch with button 9 (left from the Logitech sign).
If Jazz is not driving around, always plug in the power supply. The batteries only last about 3.5 hours and we need at least 5 test hours per day.

Your software runs on the laptop. Jazz is connected to the laptop through a dedicated wireless network. To get your software up and running:

Connect to the tue-wpa2 network (see the network icon in the upper-right corner) and make sure you disable the wired connection (which is used to communicate with Jazz).
Open a terminal, and cd to ~/ros/emc/groups
Do an svn up. You will be prompted for your group's account name and password.
Build your package(s)
- If you get a cmake error that your paths are incorrect, it might be the case that you also checked in the (auto-generated) build files (i.e., the build folder in the package). Then you should:
  - Build with the --pre-clean flag:
```
rosmake --pre-clean
```
    , and
  - Remove the build folder from the SVN!

Disable the wireless connection (e.g. with the tue-wpa2 network) and enable the wired connection (Auto Eth0)
Test if you have a working connection with Jazz:
- ```
rostopic list
```
  should give an overview of Jazz' ROS topics
- ```
rostopic echo /robot_out
```
  should output Jazz' odometry information
Hold the emergency switch, and keep an eye on the robot.
Unplug Jazz from the power supply
Run your software

To debug and develop:

You can use Rviz to visualize the laser data, camera images, etc.
It may be useful to record topics such that you can play and analyse them off-line, so be sure to check out the rosbag command on the ROS wiki.
Eclipse is installed on the laptop and you are free to use it to improve / debug your package(s).

When you stop testing:

Remove your package from the laptop:

cd ~/ros/emc/groups

rm emc<GROUP_NUMBER> -rf

@@ Line 19: / Line 19: @@
 = Test =
-* Disable the wireless connection (e.g. with the tue-wpa2 network) and enable the wired connection (Auto Eth0)
+# Disable the wireless connection (e.g. with the tue-wpa2 network) and enable the wired connection (Auto Eth0)
-* Test if you have a working connection with Jazz:
+# Test if you have a working connection with Jazz:
-** <pre>rostopic list</pre> should give an overview of Jazz' ROS topics
+#* <pre>rostopic list</pre> should give an overview of Jazz' ROS topics
-** <pre>rostopic echo /robot_out</pre> should output Jazz' odometry information
+#* <pre>rostopic echo /robot_out</pre> should output Jazz' odometry information
-* '''Hold the emergency switch, and keep an eye on the robot.'''
+# '''Hold the emergency switch, and keep an eye on the robot.'''
-* Unplug Jazz from the power supply
+# Unplug Jazz from the power supply
-* Run your software
+# Run your software
 To debug and develop:
@@ Line 32: / Line 33: @@
 * It may be useful to record topics such that you can play and analyse them off-line, so be sure to check out the ''rosbag'' command on the ROS wiki.
 * Eclipse is installed on the laptop and you are free to use it to improve / debug your package(s).
+= Clean-up =
+When you stop testing:
+# Put Jazz back at the table
+# Plug in the the power supply
+# Remove your package from the laptop:<pre>cd ~/ros/emc/groups</pre><pre>rm emc<GROUP_NUMBER> -rf</pre>
+# Switch off the laptop