danielsnider / urc

Team R3 Rover for URC 2017

For additional documentation please see: https://github.com/danielsnider/ros-rover or our book chapter documentation.

R3 ROS Workspace

Launch ALL components (best usage pattern)

On the rover:

$ cd URC/
$ mux

On the teleoperator's computer:

$ cd URC/devstuff/dan/
$ mux

For more information about our use of tmux see section 16.1 here.

Launch individual components

GPS

$ roslaunch rover gps.launch
# Output topic
$ rostopic echo gps/fix

IMU

$ roslaunch rtimulib_ros rtimulib_ros.launch
# View output
rostopic echo imu/data
$ ~/RTIMULib/Linux/build-RTIMULibDemoGL-Desktop-Debug/Output/RTIMULibDemoGL # Graphical vizualization

rtabmap

$ roslaunch rover_rtabmap_config navigation.launch
# View output
$ roslaunch rover_rtabmap_config mapping_rviz.launch

Overlay scale and bearing

$ python ~/URC/devstuff/components/ImageOverlay/overlay_scale_and_compass.py
# View output
$ rqt_image_view /science/overlay/compressed

RAMSBOT

1. Plug in the joystick to your computer
2. laptop$ source ./URC/scripts/set_robot_as_ROS_master.sh
3. Roslaunch the joy_teleoperation node where you have the joystick connected by USB

laptop$ roslaunch teleoperation joy_teleoperation.launch

4. Roslaunch the ramsbot_test.launch on the TX1 where the arduino connects to the motors

tx1$ roslaunch rover_drive ramsbot_test.launch
# View output
$ rostopic echo cmd_vel

Temperature Sensor

$ rosrun rover_science save_temp.py _description:=site1
# View output
$ cat *_temperature.txt

pH Sensor

$ rosrun rover_science save_ph.py _description:=site1
# View output
$ cat *_ph.txt

All USB Cameras

$ roslaunch rover usb_cameras.launch
# View output
rqt --perspective-file URC/devstuff/dan/gui_configs/rqt_all_cameras.perspective

ZED Camera

$ roslaunch rover zed_up.launch
# View output: there are many ways...
1) video stream: usq rqt or rviz
2) point cloud: use rviz
3) odometry: use rviz

Usage and layout

The wiki

The wiki contains a lot more information than this file. Go check it out!

Layout

The layout of this repo is like this:

Path	What it is
rosws/	The main ros workspace
rosws/src	All the catkin packages, NOT all the nodes
rosws/.gitignore	A simple gitignore to keep per-system directories out of the repo
microcontroller/	All of the microcontroller (arduino) related things, grouped by device.
scripts/	Various useful scripts to use this repo for maximum productivity!
devstuff/	General other stuff that you want to put on git. The original git repo is copied here as well.

First clone

When you first clone this, you will want to run scripts/setup_firsttime.sh from the root directory. It will then setup everything.

Arduino things

If you want to update one arduino, go into its directory, and use the command $ pio run --target upload. On the TX1, however, we know where all the arduinos are plugged in and a script (coming soon) will auto-update all of them.

Build everything

Use the script scripts/build.sh. If a build fails, it will ask you if you want to continue.

More documentation?

If we need more, or you just want to say something, you can use slack, or put it in the wiki for this repo. I might put a page about what to put in a package soon.

P.S

Don't be a litterbug, keep general development... stuff in the devstuff/ folder, and keep the structured code in the right directory!

Network IP Addresses (private network)

Device	IP	Username	Password
Rocket M2 UBNT-ROBOT	192.168.137.2	ubnt	robotrobot
Rocket M2 UBNT-BASESTATION	192.168.137.3	ubnt	robotrobot
Jetson TX1 (old)	192.168.137.212	ubuntu	ubuntu
Jetson TX1 (old) VPN	192.168.255.10	ubuntu	ubuntu
Jetson TX1 (new)	192.168.137.213	ubuntu	ubuntu
Jeston TX1 (new) VPN	192.168.255.18	ubuntu	ubuntu
TP-link 1	192.168.0.254	admin	admin
TP-link 2	192.168.0.253	admin	admin
Daniel's Laptop	192.167.137.10
Gabe's laptop	192.167.137.22