robotgrumpy
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
rostopic pub /motor/duty_cycles robp_msgs/DutyCycles ~/dd2419_ws/src/robp_robot/robp_phidgets/launch
/dd2419_ws/src/robp_robot/robp_phidgets/launch$ rostopic pub /cmd_vel geometry_msgs/Twist
alias cb="cd ~/dd2419_ws;catkin build;cd -;source ~/dd2419_ws/devel/setup.bash"
roslaunch realsense2_camera rs_camera.launch filters:=pointcloud roslaunch realsense2_camera rs_camera.launch align_depth:=True
roslaunch robp_phidgets phidgets.launch
for some reason it changes name for the usb_cam between /dev/video6 (when launching it seperatly) and /dev/video0 (when launching it together with everything using phidgets.launch) #topic for rgbd camera /camera/color/image_raw
rosbag record /motor/duty_cycles /usb_cam/image_raw /camera/color/camera_info /camera/color/image_raw /camera/depth/camera_info /camera/depth/color/points /camera/depth/image_rect_raw /camera/extrinsics/depth_to_color /tf /tf_static (name.bag)
roslaunch robp_phidgets phidgetsrosplayer.launch #play a rosbag rosbag play (name.bag)
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Roscore
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Check what the robot camera is called
- ls -ltrh /dev/video*
- By trial and error, check topic the camera publishes to and then add the correct /dev/camera# into ~/dd2419_ws/src/usb_cam/launch/usb_cam-test.launch
- It should be either video0 or *video6
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Realsense
- roslaunch realsense2_camera rs_camera.launch filters:=pointcloud
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Phidgets
- roslaunch robp_phidgets phidgets.launch
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If you wish to record, then launch rosbag record /motor/duty_cycles /usb_cam/image_raw /camera/color/camera_info /camera/color/image_raw /camera/depth/camera_info /camera/depth/color/points /camera/depth/image_rect_raw /camera/extrinsics/depth_to_color /tf /tf_static (name.bag)
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If you wish to play back roslaunch robp_phidgets phidgetsrosplayer.launch
While the robot is on the IoT network, it should have a static ip. The last known is: 192.168.128.111
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find the robot inet address by using the ifconfig command. You know it is the right command if you are able to ssh into the robot with this address.
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in the .bashrc file of the robot
a. set "export ROS_HOSTNAME= robot inet address" b. set "export ROS_MASTER_URI=http://robot inet address:11311"
- set "export ROS_MASTER_URI=http://robot inet address:11311"
- find the ssd inet address
- set "export ROS_IP=ssd inet address"
- launch rviz on the SSD with a config file using "rosrun rviz rviz -d (path_to_config_file)" (the config file can be found on the google drive)
- rosbag fix (bag_name) (new_bagname) if it asks for it
- rosbag reindex (bag_name)
- In ~/.bashrc uncomment the line with "export ROS_IP=10.0.0.1" to enable publishing to the arm
- Start a new terminator/terminal and run roscore
- Switch on the raspberry Pi and wait for some time (until the arm moves into its home position and greets you with a beep)
- To verify that the arm is running, run rostopic list (you should see a list of arm topics)
- To move seperate joints from terminal run rostopic pub /joint1_controller/command_duration hiwonder_servo_msgs/CommandDuration "data: 0.0 duration: 0.0"
- You can also publish to /jointx_controller/command (where x is joint number)
- The published value is the joint position
- home position: [0.0, 0.5235987666666666, -1.361356793333333, -1.7592918559999997, 0.0, -1.7802358066666664] (last joint is gripper)
- the action server for following trajectories is /arm_controller/follow_joint_trajectory
doExplore, mapping_and_planning -> brain