Michigan Robot X

This repository is for all Michigan RobotX Code Development and Builds

Basic Network Setup:

1. Make sure both the ops laptop and the WAM-V computer are on the same network.
   Puget IP: 192.168.1.103
   Laptop IP: 192.168.1.104
   

2. On Puget (in every terminal you open):
   

export ROS_IP=192.168.1.103
export ROS_MASTER_URI=http://192.168.1.103:11311

3. On Laptop (in every terminal you open):
   

export ROS_IP=192.168.1.104
export ROS_MASTER_URI=http://192.168.1.103:11311

Steps 2 and 3 can also be put into the ~/.bashrc file on both the systems.

4. ssh into the Puget from the laptop with the following details:
   

ssh [email protected]
password: RobotXuser!

Launching Basic Setup

On Puget:

1. Open 4 terminals on Puget
   
   Terminal 1 - Run roscore

export ROS_IP=192.168.1.103
export ROS_MASTER_URI=http://192.168.1.103:11311
roscore

Terminal 2 - Run the transform publisher

export ROS_IP=192.168.1.103
export ROS_MASTER_URI=http://192.168.1.103:11311
rosrun wamv_bringup wamv_tf_publisher

Terminal 3 - Run the drivers and odometry node

export ROS_IP=192.168.1.103
export ROS_MASTER_URI=http://192.168.1.103:11311
roslaunch wamv_bringup bringup_puget.launch

Terminal 4 - Run gmapping package

export ROS_IP=192.168.1.103
export ROS_MASTER_URI=http://192.168.1.103:11311
rosrun gmapping slam_gmapping scan:=/vel1/scan

Make sure all the above nodes are registered to the master at 192.168.1.103:11311 otherwise you won't be able to visualize the topics on the laptop

On Laptop:

1. Open 2 Terminals on the Laptop
   
   Terminal 1 - Connect to the Master and visualize data on Rviz

export ROS_IP=192.168.1.104
export ROS_MASTER_URI=http://192.168.1.103:11311

Check if the laptop is connected by echo-ing the following topics:

rostopic list

# check if you can recieve the camera images
rostopic echo /ladybug_camera/camera0/image_raw/compressed 

# check if you can receive the velodyne scan
rostopic echo /vel1/scan

# check if you can receive the odometry
rostopic echo /gps/odom

# check if you receive the correct transform data
rostopic echo /tf

If all the above works, finally run the visualization package on the laptop

roslaunch wamv_bringup bringup_laptop.launch

Terminal 2 - Bring up the joystick controller:
i) Check the joystick input

sudo jstest /dev/input/jsX

it will usually be js1
ii) Change the js permissions

sudo chmod a+rw /dev/input/jsX

iii) set the ros parameters

rosparam set joy_node/dev "/dev/input/jsX"

iv) Run joy_node

rosrun joy joy_node