git_usage.txt

Git nastavitve:

git clone url

git status
git add "nek_file"
git commit -m "dodal nov file"
git push

git pull origin master

Ostalo:
- v catkin_ws:
  sudo find -exec touch \{\} \;
  
rostopic pub -r 10 pico/cmd_vel geometry_msgs/Twist  '{linear:  {x: 0.0, y: 0.0, z: 0.0}, angular: {x: 0.0,y: 0.0,z: 0.6}}'


printenv | grep ROS -> vidimo ros podatke

apt-cache search ros-kinetic

sshfs pi@192.168.10.1: pi
fusermount -u PATH

Pomembne poti:

/home/pi/.ros/log/latest

Preverimo kje se nahaja izkani niz (picobot_imu):
Nahajati se morale v /etc

sudo grep picobot_imu * -R

Lokacija bring up file v etc:

/etc/ros/kinetic/picobot.d	


Nastavimo robot_upstart:
http://docs.ros.org/jade/api/robot_upstart/html/

sudo apt-get install ros-kinetic-robot-upstart
rosrun robot_upstart install picobot_bring_up/launch/picobot_bring_up.launch

Linkamo bring up direktorija:

ln -s /etc/ros/kinetic/picobot.d/picobot_bring_up.launch /home/pi/catkin_ws/src/Picobot/picobot_bring_up/launch/picobot_bring_up.launch


Dodamo v /etc/rc.local
chmod 777 /dev/mem
chmod 777 /dev/gpiomem
chmod 777 /dev/ttyUSB0
chmod 777 /dev/input/event*
chmod 777 /dev/fb*

na Ubuntu 18.04
sudo nano /etc/rc.local
dodaj to v file:
#!/bin/sh -e
#
# rc.local
#
# This script is executed at the end of each multiuser runlevel.
# Make sure that the script will "exit 0" on success or any other
# value on error.
#
# In order to enable or disable this script just change the execution
# bits.
#
# By default this script does nothing.

exit 0

pred exit pridejo ukati ki se zaženejo ob zagonu
na koncu pa še zaženemo: sudo chmod +x /etc/rc.local

Dodamo v ~/.bashrc
source /home/pi/catkin_ws/devel/setup.bash
alias cat_make='cd ~/catkin_ws/ && catkin_make && source devel/setup.bash && cd -'


Nastavimo i2c:

Preverimo:
ls -l /dev/i2c-1
crw-rw-rw- 1 root i2c 89, 1 Feb 11  2016 /dev/i2c-1

sudo nano /etc/udev/rules.d/99-i2c.rules
KERNEL=="i2c-[0-7]",MODE="0666"

Ukaz: sudo adduser pi i2c

Dodamo v /boot/config.txt:

dtparam=i2c1=on
dtmparam=i2c_arm=on

Dodamo v /etc/modules:
ic2-bcm2708
i2c-dev

Paketi :
sudo apt-get install ros-kinetic-joy
sudo apt-get install ros-kinetic-teleop-tools
sudo apt-get install ros-kinetic-teleop-tools-msgs
sudo apt-get install ros-kinetic-teleop-twist-joy
sudo apt-get install ros-kinetic-teleop-twist-keyboard

ros-kinetic-rplidar-ros