Commit d974df24 authored by CANNERE Xavier's avatar CANNERE Xavier
Browse files

topic 4 with demo

parent c9e46b47
......@@ -350,7 +350,14 @@ You can put shape in front of the rover to test, the rover should go to the near
Step 6 : Test it for real
-------------------------
Power on your rover and open a new terminal, ping the ip adress of your raspberry pi::
.. warning::
In this step we suppose these ip address:
- Raspberry : 10.255.104.46
- Odroid : 10.255.111.2
- Hokuyo : 10.255.111.4
- PC : 10.255.104.200
Power on your rover and open a new terminal, ping the ip address of your raspberry pi::
ping 10.255.104.46
......@@ -358,15 +365,17 @@ If the ping work type that::
ssh pi@10.255.104.46
The password is ``raspberry``, you are loged on the raspberry pi.
The password is ``raspberry``, you are logged on the raspberry pi.
Open a new terminal ping your odroid::
ping 10.255.111.2
If the odroid answer you can login::
ssh root@10.255.111.2
Now, set the environment variable::
Now, set the environment variable on the odroid::
export ROS_MASTER_URI=http://10.255.104.46:11311
export ROS_HOSTNAME=10.255.111.2
......@@ -374,11 +383,47 @@ Now, set the environment variable::
Open a new terminal without log on the rover and set again the environment variable::
export ROS_MASTER_URI=http://10.255.104.46:11311
export ROS_HOSTNAME=yourIp
export ROS_HOSTNAME=10.255.104.200
.. note::
To see your ip you can type ifconfig
Source ROS1 on odroid and raspberry terminal::
. /opt/ros/noetic/setup.bash
or
. /opt/ros/indigo/setup.bash
And start your launcher::
or
. /opt/ros/melodic/setup.bash
On the odroid terminal type::
ros2 launch pkg_follower follower.launch.py
nano /etc/hosts
And if this lines are not in the files add it::
10.255.104.46 master.localnet
Now type that::
rosrun urg_node urg_node _ip_address:=10.255.111.4
Ou your PC terminal type::
ros2 run ros1_bridge dynamic_bridge
On a new terminal type::
cd colcon_ws
. install/setup.bash
export ROS_MASTER_URI=http://10.255.104.46:11311
export ROS_HOSTNAME=10.255.104.200
ros2 run pkg_follower follower --ros-args --remap /demo/laser/out:=/scan
And now your rover will execute the node !
Markdown is supported
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment