gen2-demo-instructions.md
Last updated
Was this helpful?
Last updated
Was this helpful?
Basically all the steps we think are needed to get the to work. This was gathered by the team and then experimented and revised further by Pito during the post-semester break.
SSH into the robot’s onboard laptop (turtlebot@129.64.243.64)
Start a roscore
Do a bringup for the onboard laptop: “roslaunch cr_ros campus_rover.launch”
Wait until the bringup finishes. Look for “Odom received” message
Run roslaunch cr_ros offboard_launch.launch
Wait until the bringup finishes. Look for “Odom received” message
Install Flask
Clone cr_web repo
cd into cr_web
Make sure to bring up TB2 (with cr_ros), or run a local roscore
export ROS_MASTERURI=_
export FLASK_APP=rover_app
flask run --no-reload --host=0.0.0.0 --with-threads
Note: --host=0.0.0.0 and --with-threads are only needed if other client machines need to access the hosted app.
Go to localhost:5000/, or replace localhost with the other machine’s IP if you’re accessing it from a client machine. (edited)
aruco_detect (for fiducial_msgs import error)
pip install face_recognition
Kobuki docking might be part of the general TB2 install or may need to be separate
sudo apt-get install ros-kinetic-moveit-ros-visualization
make sure that ROS_MASTER_URI= (or whereever roscore is runnung)