MRC/Using Pico

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== Starting Pico ==
== Starting Pico ==
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To start Pico please follow the following steps:
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To start Pico or Taco please follow the following steps:
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# Power on Pico, the on-off switch is on the bottom, on the opposite site of the emergency button (it should be pushed forward).
+
# Power on the robot
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# Boot up the laptop, password is '''pico123'''
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#* For Pico, the on-off switch is on the bottom, next to the emergency button. This also starts the on-board computer
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# Open a terminal and type <pre>ssh pico</pre> to login on Pico's computer, the password is again '''pico123'''
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#* For Taco, the on-off switch is on the outer edge of the base. Also start the laptop, if it is not already on (you don't need to log in).
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# In the same terminal type <pre>pstart</pre> to start all the nodes on Pico (controllers and drivers)
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# '''From here on, you should work on the operator laptop.''' Open a terminal and type <pre>ssh<robot name></pre> where <robot name> is either pico or taco, depending on which robot you want to use. Using this command, you login on the robot's computer; the password is again '''emc'''. You are now working directly on the robot's computer through the WiFi.
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# '''N.B. leave this terminal open'''
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# Now that you are in, you can start all the necessary nodes on the robot. These controllers and drivers let your software communicate with the hardware. On the robot (so in the terminal you opened in the previous step) enter
 +
#* For Pico: <pre>pstart</pre>
 +
#* For Taco: <pre>tstart</pre>
 +
# '''N.B. leave this terminal open! '''
== Running your software ==
== Running your software ==
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Pico is now up and running. To run your own software follow these steps:
+
Pico/Taco is now up and running. To run your own software follow these steps:
-
# Open a new terminal and login to Pico again: <pre>ssh pico</pre> with password '''pico123'''.
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# Open a '''new''' terminal and login to your robot again: <pre>ssh<robot name></pre> with password '''emc'''.
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# Go to your group's folder: <pre>cd ~/ros/groovy/emc/groups/emc<group number></pre>
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# Go to your group's folder: <pre>cd ~/groups/emc<group number></pre>
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# Update your folder: <pre>svn up</pre>Use your own username and password, if the wrong username is already filled in, just hit enter to clear it.
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# The rest works the same as on your own PC.
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# The rest works the same as on your own pc.
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#* The first time, you will have to clone your git project on the robot's computer: <pre>git clone http://roboticssrv.wtb.tue.nl:8800/emc<group number>/my_project.git shared_project</pre> Of course with your own group number, project name etc. Just like you did on the PCs of the group members.
 +
#* Any next time you can just navigate to your group's folder and <pre>git pull</pre>
 +
#* Now that your own software is up to date, you can compile it and run it, again just like you would on your own laptop.
== Visualization ==
== Visualization ==
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When you want to use RVIZ or your own visualization, you can run it on the laptop:
+
When you want to visualize the robot while testing, you can do the following
# Open a new terminal
# Open a new terminal
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# Type <pre>pico-core</pre> to listen to the ros-master on Pico (only in the current terminal).
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# Type <pre><robot name>-core</pre> This makes sure that any software you run in this terminal listens to the ros-master on your robot.
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# Open RVIZ by typing <pre>rosrun rviz rviz</pre>
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# So if you now run our visualization software by entering <pre>emc-viz</pre> it will subscribe to the topics published on the robot.
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# Please do not save any settings when closing RVIZ
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== Recording data ==
 +
A simulator simulates a perfect world, so if your software works in the simulator, it is not (at all) guaranteed to work in the real world. But because you only have limited testing time on the robots, it would be nice if you could somehow simulate being in the real world. Luckily, the developers of ROS also ran into this, so they create rosbag. Using rosbag you can record data published by the robot and play it later when you want to test an awesome new feature of your software using real sensor data, or if you just want to inspect the quality of the sensor data, etc.
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# The first step is again to open a terminal
 +
# Almost done...

Revision as of 10:03, 6 May 2015

Contents

Starting Pico

To start Pico or Taco please follow the following steps:

  1. Power on the robot
    • For Pico, the on-off switch is on the bottom, next to the emergency button. This also starts the on-board computer
    • For Taco, the on-off switch is on the outer edge of the base. Also start the laptop, if it is not already on (you don't need to log in).
  2. From here on, you should work on the operator laptop. Open a terminal and type
    ssh<robot name>
    where <robot name> is either pico or taco, depending on which robot you want to use. Using this command, you login on the robot's computer; the password is again emc. You are now working directly on the robot's computer through the WiFi.
  3. Now that you are in, you can start all the necessary nodes on the robot. These controllers and drivers let your software communicate with the hardware. On the robot (so in the terminal you opened in the previous step) enter
    • For Pico:
      pstart
    • For Taco:
      tstart
  4. N.B. leave this terminal open!

Running your software

Pico/Taco is now up and running. To run your own software follow these steps:

  1. Open a new terminal and login to your robot again:
    ssh<robot name>
    with password emc.
  2. Go to your group's folder:
    cd ~/groups/emc<group number>
  3. The rest works the same as on your own PC.
    • The first time, you will have to clone your git project on the robot's computer:
      git clone http://roboticssrv.wtb.tue.nl:8800/emc<group number>/my_project.git shared_project
      Of course with your own group number, project name etc. Just like you did on the PCs of the group members.
    • Any next time you can just navigate to your group's folder and
      git pull
    • Now that your own software is up to date, you can compile it and run it, again just like you would on your own laptop.

Visualization

When you want to visualize the robot while testing, you can do the following

  1. Open a new terminal
  2. Type
    <robot name>-core
    This makes sure that any software you run in this terminal listens to the ros-master on your robot.
  3. So if you now run our visualization software by entering
    emc-viz
    it will subscribe to the topics published on the robot.

Recording data

A simulator simulates a perfect world, so if your software works in the simulator, it is not (at all) guaranteed to work in the real world. But because you only have limited testing time on the robots, it would be nice if you could somehow simulate being in the real world. Luckily, the developers of ROS also ran into this, so they create rosbag. Using rosbag you can record data published by the robot and play it later when you want to test an awesome new feature of your software using real sensor data, or if you just want to inspect the quality of the sensor data, etc.

  1. The first step is again to open a terminal
  2. Almost done...
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