kurreman / dopey-dd2419

Forked repo of large group project that took place at KTH Jan-June 2023. I had main responsibility for localization & mapping, behaviour tree, hardware implementation, path planning and integration. Did also do other task including some computer vision.

Dopey Handbook

Get access to Dopey remotely

Using master URI/remote roscore

0. CONNECT TO INTERNET
1. Power Dopey on

2. On client ssh [email protected]
3. If first time, accept everything
4. Input password Dopey5000
5. Congrats! You now have access to Dopey's mind (files)!

Using remote desktop (Sunshine/Moonlight)

On host (Dopey)

1. In a terminal run command sunshine
2. PLUG IN HDMI DUMMY IN GPU HDMI PORT

On client (Mission control or own computer {don't forget to pair if that's the case})

1. In a terminal run command moonlight
2. Have patience and wait until a GUI window pops up
3. Click the symbol "robot"
4. Click the desktop to enter Dopey's desktop.
5. Have patience and wait
6. Go nuts and drift Dopey as much as you want to

• Toggle fullscreen: ctrl+shift+alt+X
• Toggle cursor/keyboard: ctrl+shift+alt+Z
• Disconnect sessions: ctrl+shift+alt+Q

Config/credentials

• Configuration of Sunshine available here https://localhost:47990/
• username: dopey, password: Dopey5000

Control dopey with keyboard or joystick

0. Be inside Dopey
1. cd ~/dd2419_ws
2. Create at least 2 terminal tabs/windows
3. In one: roscore
4. In the other roslaunch launch main.launch
5. Use the joystick (hold A+move left stick [don't forget USB-stick]) or the keyboard (ikjl) to control Dopey
6. DOPE!

See Dopey's view live in Rviz

0. Make sure Dopey's alive
1. roscore
2. roslaunch launch rviz.launch

Play a recorded rosbag and visualize in Rviz

1. roscore
2. roslaunch launch mainSIMULATION.launch
3. cd ~/dd2419_ws/bagfiles
4. rosbag play --clock --pause <bag-name>.bag - as defined in Play rosbag

Rosbag

Record rosbag

1. cd ~/<workspace>/bagfiles - IMPORTANT!

• rosbag record -a - record everything

• rosbag record -O subset <Topic-1> <Topic-2> ... - record only specific topics

Play rosbag

• roslaunch launch rvizSIMULATION.launch

• rosbag play --clock --pause <bag-name>.bag - will start in paused mode, press SPACE to play

Packages

Joystick Package

sudo apt-get install ros-noetic-joy

py_trees and py_trees_ros

sudo apt install ros-noetic-py-trees

sudo apt install ros-noetic-py-trees-ros

Cam Packages

Milestone 1 run through

0. Plug the battery into Dopey
1. Use mission control computer
2. Invade Dopey's privacy
3. Take control over Dopey's life
4. cd ~/<workspace>/bagfiles - IMPORTANT!
5. bash record.sh
6. Drive around and collect data
7. ctrl-c in terminal of recording
8. Plug Dopey back into a screen, keyboard and mouse
9. Inside Dopey relive the best moments of Dopey's life (Use the rosbag called milestone1.bag)