robot_to_robot_control

install the following: sudo apt-get install ros-melodic-husky* (for all husky package dependencies)

Scenario 1:

• Standalone husky on one laptop with hector_slam and move_base

Spawn husky

roslaunch bilateral_teleop empty_world.launch
roslaunch bilateral_teleop husky.launch

Visualize on rviz

roslaunch husky_viz view_robot.launch

Hector SLAM

roslaunch hector_mapping mapping_default 

move_base

roslaunch hector_navigation move_base.launch 

Scenario 2:

• Husky (labor) on the network and SLAM and navigation running on the Master(Laptop)

Spawn husky on Laptop2

roslaunch bilateral_teleop empty_world.launch
roslaunch bilateral_teleop husky.launch

Visualize on rviz on Master

roslaunch husky_viz view_robot.launch

Hector SLAM on Master

roslaunch hector_mapping mapping_default 

move_base on Master

roslaunch hector_navigation move_base.launch 

% if move_base gives error set <arg name="no_static_map" value="true"/> or use roslaunch hector_navigation move_base_mapless_demo.launch

Scenario 3: (version 1) -- Not used.

• Husky1 is the Master. Husky2 is the labor. Husky1 is running without nampespace. Husky2 with namespace. Husky1 is subscribing to the odom and laser data of Husky2 and simulatenously building a map through Hector SLAM and navigation through move_base.

To set namespace on the labor side, edit arg name="robot_namespace" value="h2/" in all three files:

husky_gazebo/launch/spawn_husky.launch
husky_description/launch/description.launch
husky_description/urdf/husky.urdf.xacro 

For building map on Master, edit hector_mapping/launch/mapping_default.launch on Master laptop.

<"arg name ="pub_map_odom_transform" value ="false">
<"arg name ="scan_topic" value ="h2/scan">

Spawn husky on Laptop1 - Master

roslaunch bilateral_teleop empty_world.launch
roslaunch bilateral_teleop husky.launch

Set tf_transforms from map to odom as we disabled it in mapper. And from master's base_footprint to labor's base_laser

rosrun tf static_transform_publisher 0 0 0 0 0 0 map odom 50
rosrun tf static_transform_publisher 0 0 0 0 0 0 base_footprint h2/base_laser 50

Spawn husky on Laptop2 - Labor with odom_reader_husky node

roslaunch bilateral_teleop husky.launch
rosrun bilateral_teleop odom_reader_husky2.py

Visualize on rviz on Master

roslaunch husky_viz view_robot.launch

Hector SLAM on Master

roslaunch hector_mapping mapping_default.launch

move_base on Master

roslaunch husky_navigation move_base.launch 

Scenario 3: (version 2)

• Husky2 is the Master. Husky1 is the labor. Husky2 is running with nampespace. Husky1 without namespace. Husky2 is subscribing to the odom and laser data of Husky1(labor) and simulatenously building a map through Hector SLAM and navigation through move_base.

To set namespace on the Master side, edit arg name="robot_namespace" value="h2/" in all three files on the Master:

husky_gazebo/launch/spawn_husky.launch
husky_description/launch/description.launch
husky_description/urdf/husky.urdf.xacro 

No changes are required in hector_mapping/mapping_default.launch. Remap velocity topic in move_base.launch (at Master). Refer to the move_base.launch in the code provided.

<remap from="cmd_vel" to="h2/cmd_vel"/>

Run roscore on Master

roscore 

Spawn husky on Laptop1 - Master

roslaunch bilateral_teleop empty_world.launch
roslaunch bilateral_teleop husky.launch

Spawn husky on Laptop2 - Labor with odom_reader_husky node

roslaunch bilateral_teleop husky.launch
rosrun bilateral_teleop odom_reader_husky2.py

Visualize on rviz on Master

roslaunch husky_viz view_robot.launch

Hector SLAM on Master

roslaunch hector_mapping mapping_default.launch

move_base on Master

roslaunch husky_navigation move_base.launch 

Scenario 4:

Master robot builds a map of its own environment (SLAM and move_base running on Master). Labor robot reads odometry of Master and provides feedback of obstacles.

• Using labor robot with changed namespaces now. Both robot use twist_mux with same priorities of topics in twist_mux.yaml file. (/husky_control/config/twist_mux.yaml)
• Master's odom reader

  - subscribes to: h2/joy_teleop/cmd_vel (priority: 15)
  - publishes to: /twist_marker_server/cmd_vel (priority: 2)

• Labor's odom reader

 - subscribes to: odometry/filtered 
 - publishes to: /h2/cmd_vel (priority: 1)

• Labor's feedback node

 - subscribes to: h2/scan
 - publishes to: h2/joy_teleop/cmd_vel (priority: 15)

Spawn husky on Laptop1 - Master

roslaunch bilateral_teleop empty_world.launch 
roslaunch bilateral_teleop husky.launch
rosrun bilateral_teleop odom_reader_husky.py

Spawn husky on Laptop2 - Labor with odom_reader_husky and feedback node

roslaunch bilateral_teleop husky.launch
rosrun bilateral_teleop odom_reader_husky2.py
rosrun bilateral_teleop force_feedback.py

Visualize on rviz on Master

roslaunch husky_viz view_robot.launch

Hector SLAM on Master

roslaunch hector_mapping mapping_default.launch 

move_base on Master

roslaunch husky_navigation move_base.launch