• Pito Salas, November 2018, pitosalas@brandeis.edu

Setup

• Basement space is set up like an office

• We have to update the map to include fake hallways and offices

• Lines will be taped to the floor to indicate the walls

• There will be four "offices", two "hallways", one "lab", and one "reception"

• We will move furniture into the "rooms" but navigation will be based on the

• Map is updated to match the tapes on the floor

• Locations are added to the location table

Demo

1. A package has been delivered to reception

2. The robot is sitting in its charging station

3. Using a computer sitting on his desk, the receptionist summons the robot over

Pito Salas

Intro

Basically all the steps we think are needed to get the Fall 208 Demo Script 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”

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

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

• sudo apt-get install ros-kinetic-moveit-ros-visualization

• make sure that ROS_MASTER_URI= (or whereever roscore is runnung)