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gen2-demo-instructions.md

Intro

Basically all the steps we think are needed to get the Fall 208 Demo Scriptarrow-up-right to work. This was gathered by the team and then experimented and revised further by Pito during the post-semester break.

Onboard Laptop Steps:

  • 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

On another machine (needs to be more powerful for this than for the web app)

  • Run roslaunch cr_ros offboard_launch.launch

  • Wait until the bringup finishes. Look for “Odom received” message

On a third machine

  • 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=_http://______arrow-up-right

  • 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)

Known dependencies:

  • 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

On offboard computer

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