https://cstwiki.wtb.tue.nl/index.php?title=MRC/Using_Pico&feed=atom&action=historyMRC/Using Pico - Revision history2024-03-28T11:42:14ZRevision history for this page on the wikiMediaWiki 1.39.5https://cstwiki.wtb.tue.nl/index.php?title=MRC/Using_Pico&diff=88591&oldid=prevJsenden: moved Embedded Motion Control/Using Pico to MRC/Using Pico2020-03-27T10:12:10Z<p>moved <a href="/wiki/Embedded_Motion_Control/Using_Pico" class="mw-redirect" title="Embedded Motion Control/Using Pico">Embedded Motion Control/Using Pico</a> to <a href="/wiki/MRC/Using_Pico" title="MRC/Using Pico">MRC/Using Pico</a></p>
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</table>Jsendenhttps://cstwiki.wtb.tue.nl/index.php?title=MRC/Using_Pico&diff=75177&oldid=prevS131974: /* Running your software */2019-05-14T14:38:30Z<p><span dir="auto"><span class="autocomment">Running your software</span></span></p>
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<td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">Revision as of 15:38, 14 May 2019</td>
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<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div># Go to your group's folder: <pre>cd ~/emc/emc<group number></pre></div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div># Go to your group's folder: <pre>cd ~/emc/emc<group number></pre></div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div># The rest works the same as on your own PC. </div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div># The rest works the same as on your own PC. </div></td></tr>
<tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div>#* The first time, you will have to clone your git project on the robot's computer: <pre>git clone https://gitlab.tue.nl/<del style="font-weight: bold; text-decoration: none;">emc2018</del>/group<group number>.git</pre> Of course with your own group number, project name etc. Just like you did on the PCs of the group members.</div></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div>#* The first time, you will have to clone your git project on the robot's computer: <pre>git clone https://gitlab.tue.nl/<ins style="font-weight: bold; text-decoration: none;">emc2019</ins>/group<group number>.git</pre> Of course with your own group number, project name etc. Just like you did on the PCs of the group members.</div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>#* Any next time you can just navigate to your project folder within your group's folder and <pre>git pull</pre></div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>#* Any next time you can just navigate to your project folder within your group's folder and <pre>git pull</pre></div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>#* 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.</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>#* 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.</div></td></tr>
</table>S131974https://cstwiki.wtb.tue.nl/index.php?title=MRC/Using_Pico&diff=75176&oldid=prevS131974: /* Starting Pico */2019-05-14T14:38:02Z<p><span dir="auto"><span class="autocomment">Starting Pico</span></span></p>
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<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>#* 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).</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>#* 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).</div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>--></div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>--></div></td></tr>
<tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div># Now <del style="font-weight: bold; text-decoration: none;">with </del>the laptop you want to use (one of your group members' laptops<del style="font-weight: bold; text-decoration: none;">) log in to the RoPod wifi network (The TA will enter the credentials for you</del>).</div></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div># Now <ins style="font-weight: bold; text-decoration: none;">plug the provided ethernet cable into </ins>the laptop you want to use (one of your group members' laptops).</div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div># '''From here on, you should work on your laptop.''' Open a terminal and type <pre>sshpico</pre> The password is '''emc'''.</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div># '''From here on, you should work on your laptop.''' Open a terminal and type <pre>sshpico</pre> The password is '''emc'''.</div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div><!-- 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'''. --></div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div><!-- 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'''. --></div></td></tr>
</table>S131974https://cstwiki.wtb.tue.nl/index.php?title=MRC/Using_Pico&diff=74740&oldid=prevS131974: /* Starting Pico */2019-05-08T10:57:19Z<p><span dir="auto"><span class="autocomment">Starting Pico</span></span></p>
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<td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">Revision as of 11:57, 8 May 2019</td>
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<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>#* 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).</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>#* 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).</div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>--></div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>--></div></td></tr>
<tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div># Now with the laptop you want to use (one of your group members' laptops) log in to the RoPod wifi network (The TA will <del style="font-weight: bold; text-decoration: none;">provide you with </del>the credentials).</div></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div># Now with the laptop you want to use (one of your group members' laptops) log in to the RoPod wifi network (The TA will <ins style="font-weight: bold; text-decoration: none;">enter </ins>the credentials <ins style="font-weight: bold; text-decoration: none;">for you</ins>).</div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div># '''From here on, you should work on your laptop.''' Open a terminal and type <pre>sshpico</pre> The password is '''emc'''.</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div># '''From here on, you should work on your laptop.''' Open a terminal and type <pre>sshpico</pre> The password is '''emc'''.</div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div><!-- 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'''. --></div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div><!-- 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'''. --></div></td></tr>
</table>S131974https://cstwiki.wtb.tue.nl/index.php?title=MRC/Using_Pico&diff=74738&oldid=prevS131974: /* Starting Pico */2019-05-08T10:56:42Z<p><span dir="auto"><span class="autocomment">Starting Pico</span></span></p>
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<td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">Revision as of 11:56, 8 May 2019</td>
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<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>#* 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).</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>#* 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).</div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>--></div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>--></div></td></tr>
<tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div># Now <del style="font-weight: bold; text-decoration: none;">plug in </del>the laptop you want to use (one of your group members' laptops) to the <del style="font-weight: bold; text-decoration: none;">given UTP cable and make sure it is connected using this wired </del>network <del style="font-weight: bold; text-decoration: none;">connection</del>.</div></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div># Now <ins style="font-weight: bold; text-decoration: none;">with </ins>the laptop you want to use (one of your group members' laptops) <ins style="font-weight: bold; text-decoration: none;">log in </ins>to the <ins style="font-weight: bold; text-decoration: none;">RoPod wifi </ins>network <ins style="font-weight: bold; text-decoration: none;">(The TA will provide you with the credentials)</ins>.</div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div># '''From here on, you should work on your laptop.''' Open a terminal and type <pre>sshpico</pre> The password is '''emc'''.</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div># '''From here on, you should work on your laptop.''' Open a terminal and type <pre>sshpico</pre> The password is '''emc'''.</div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div><!-- 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'''. --></div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div><!-- 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'''. --></div></td></tr>
</table>S131974https://cstwiki.wtb.tue.nl/index.php?title=MRC/Using_Pico&diff=55885&oldid=prevS133146: /* Recording data */2018-05-07T09:13:31Z<p><span dir="auto"><span class="autocomment">Recording data</span></span></p>
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<td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">Revision as of 10:13, 7 May 2018</td>
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<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div># Find the topics you would like to record (usually those will be the ones containing data from the LRF and the odometry: /pico/laser and /pico/odom) by using <pre>rostopic list</pre></div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div># Find the topics you would like to record (usually those will be the ones containing data from the LRF and the odometry: /pico/laser and /pico/odom) by using <pre>rostopic list</pre></div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div># You can now use the rosbag tool to record the topics you like: <pre>rosbag record topic_1 topic_2</pre>Topic_1 and topic_2 should of course be changed to the correct topic names, but you can also add more topics to this command. While recording, you should leave this terminal open, and if you think you have enough data, you can stop recording by pressing ctrl+C. If you would like to record all topics (not recommended, as this means recording '''a lot''' of unnecessary data), you could use the option -a instead of typing in all of the topic names.</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div># You can now use the rosbag tool to record the topics you like: <pre>rosbag record topic_1 topic_2</pre>Topic_1 and topic_2 should of course be changed to the correct topic names, but you can also add more topics to this command. While recording, you should leave this terminal open, and if you think you have enough data, you can stop recording by pressing ctrl+C. If you would like to record all topics (not recommended, as this means recording '''a lot''' of unnecessary data), you could use the option -a instead of typing in all of the topic names.</div></td></tr>
<tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div># The bag file you just recorded is now in the current directory, so if you enter <pre>ls</pre> you can see it among the other files in the current directory. This should be the home directory (if you did not cd to somewhere else). You can now copy this file over the network to your own laptop by opening a '''new terminal''' (or just log out of the robot by pressing ctrl+D), navigating to the directory where you want to place your new bag file, and entering<pre>scp emc@192.168.44.<del style="font-weight: bold; text-decoration: none;">81</del>:~/<filename> <filename></pre> What this command does is the following: it securely copies (scp) from the emc account at the robot's computer the file given by the path after the colon and it places it in your current directory with the second file name. If you gathered multiple bag files on the robot's PC, you can easily copy all of them in one go by doing <pre>scp emc@192.168.44.<del style="font-weight: bold; text-decoration: none;">81</del>:~/*.bag .</pre> This will copy all files wit the .bag extention from the home folder of Pico to your current directory.</div></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div># The bag file you just recorded is now in the current directory, so if you enter <pre>ls</pre> you can see it among the other files in the current directory. This should be the home directory (if you did not cd to somewhere else). You can now copy this file over the network to your own laptop by opening a '''new terminal''' (or just log out of the robot by pressing ctrl+D), navigating to the directory where you want to place your new bag file, and entering<pre>scp emc@192.168.44.<ins style="font-weight: bold; text-decoration: none;">253</ins>:~/<filename> <filename></pre> What this command does is the following: it securely copies (scp) from the emc account at the robot's computer the file given by the path after the colon and it places it in your current directory with the second file name. If you gathered multiple bag files on the robot's PC, you can easily copy all of them in one go by doing <pre>scp emc@192.168.44.<ins style="font-weight: bold; text-decoration: none;">253</ins>:~/*.bag .</pre> This will copy all files wit the .bag extention from the home folder of Pico to your current directory.</div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div># After you have copied your bag files to your own PC, clean up the robot's PC by removing your bag file(s): <pre>rm <filename></pre> This '''permanently''' removes the file from the robot's file system, so if you want to keep it, make sure you only do this after copying it to your own PC!</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div># After you have copied your bag files to your own PC, clean up the robot's PC by removing your bag file(s): <pre>rm <filename></pre> This '''permanently''' removes the file from the robot's file system, so if you want to keep it, make sure you only do this after copying it to your own PC!</div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td></tr>
</table>S133146https://cstwiki.wtb.tue.nl/index.php?title=MRC/Using_Pico&diff=55883&oldid=prevS133146: /* Running your software */2018-05-07T09:12:49Z<p><span dir="auto"><span class="autocomment">Running your software</span></span></p>
<table style="background-color: #fff; color: #202122;" data-mw="interface">
<col class="diff-marker" />
<col class="diff-content" />
<col class="diff-marker" />
<col class="diff-content" />
<tr class="diff-title" lang="en">
<td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">← Older revision</td>
<td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">Revision as of 10:12, 7 May 2018</td>
</tr><tr><td colspan="2" class="diff-lineno" id="mw-diff-left-l21">Line 21:</td>
<td colspan="2" class="diff-lineno">Line 21:</td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div># Go to your group's folder: <pre>cd ~/emc/emc<group number></pre></div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div># Go to your group's folder: <pre>cd ~/emc/emc<group number></pre></div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div># The rest works the same as on your own PC. </div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div># The rest works the same as on your own PC. </div></td></tr>
<tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div>#* The first time, you will have to clone your git project on the robot's computer: <pre>git clone https://gitlab.<del style="font-weight: bold; text-decoration: none;">com</del>/emc2018/group<group number>.git</pre> Of course with your own group number, project name etc. Just like you did on the PCs of the group members.</div></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div>#* The first time, you will have to clone your git project on the robot's computer: <pre>git clone https://gitlab.<ins style="font-weight: bold; text-decoration: none;">tue.nl</ins>/emc2018/group<group number>.git</pre> Of course with your own group number, project name etc. Just like you did on the PCs of the group members.</div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>#* Any next time you can just navigate to your project folder within your group's folder and <pre>git pull</pre></div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>#* Any next time you can just navigate to your project folder within your group's folder and <pre>git pull</pre></div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>#* 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.</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>#* 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.</div></td></tr>
</table>S133146https://cstwiki.wtb.tue.nl/index.php?title=MRC/Using_Pico&diff=55881&oldid=prevS133146: /* Running your software */2018-05-07T09:12:19Z<p><span dir="auto"><span class="autocomment">Running your software</span></span></p>
<table style="background-color: #fff; color: #202122;" data-mw="interface">
<col class="diff-marker" />
<col class="diff-content" />
<col class="diff-marker" />
<col class="diff-content" />
<tr class="diff-title" lang="en">
<td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">← Older revision</td>
<td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">Revision as of 10:12, 7 May 2018</td>
</tr><tr><td colspan="2" class="diff-lineno" id="mw-diff-left-l21">Line 21:</td>
<td colspan="2" class="diff-lineno">Line 21:</td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div># Go to your group's folder: <pre>cd ~/emc/emc<group number></pre></div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div># Go to your group's folder: <pre>cd ~/emc/emc<group number></pre></div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div># The rest works the same as on your own PC. </div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div># The rest works the same as on your own PC. </div></td></tr>
<tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div>#* The first time, you will have to clone your git project on the robot's computer: <pre>git clone https://gitlab.com/<del style="font-weight: bold; text-decoration: none;">emc2016</del>/group<group number>.git</pre> Of course with your own group number, project name etc. Just like you did on the PCs of the group members.</div></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div>#* The first time, you will have to clone your git project on the robot's computer: <pre>git clone https://gitlab.com/<ins style="font-weight: bold; text-decoration: none;">emc2018</ins>/group<group number>.git</pre> Of course with your own group number, project name etc. Just like you did on the PCs of the group members.</div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>#* Any next time you can just navigate to your project folder within your group's folder and <pre>git pull</pre></div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>#* Any next time you can just navigate to your project folder within your group's folder and <pre>git pull</pre></div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>#* 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.</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>#* 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.</div></td></tr>
</table>S133146https://cstwiki.wtb.tue.nl/index.php?title=MRC/Using_Pico&diff=40280&oldid=prevS111208: Change IP range2017-05-14T10:46:05Z<p>Change IP range</p>
<table style="background-color: #fff; color: #202122;" data-mw="interface">
<col class="diff-marker" />
<col class="diff-content" />
<col class="diff-marker" />
<col class="diff-content" />
<tr class="diff-title" lang="en">
<td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">← Older revision</td>
<td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">Revision as of 11:46, 14 May 2017</td>
</tr><tr><td colspan="2" class="diff-lineno" id="mw-diff-left-l49">Line 49:</td>
<td colspan="2" class="diff-lineno">Line 49:</td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div># Find the topics you would like to record (usually those will be the ones containing data from the LRF and the odometry: /pico/laser and /pico/odom) by using <pre>rostopic list</pre></div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div># Find the topics you would like to record (usually those will be the ones containing data from the LRF and the odometry: /pico/laser and /pico/odom) by using <pre>rostopic list</pre></div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div># You can now use the rosbag tool to record the topics you like: <pre>rosbag record topic_1 topic_2</pre>Topic_1 and topic_2 should of course be changed to the correct topic names, but you can also add more topics to this command. While recording, you should leave this terminal open, and if you think you have enough data, you can stop recording by pressing ctrl+C. If you would like to record all topics (not recommended, as this means recording '''a lot''' of unnecessary data), you could use the option -a instead of typing in all of the topic names.</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div># You can now use the rosbag tool to record the topics you like: <pre>rosbag record topic_1 topic_2</pre>Topic_1 and topic_2 should of course be changed to the correct topic names, but you can also add more topics to this command. While recording, you should leave this terminal open, and if you think you have enough data, you can stop recording by pressing ctrl+C. If you would like to record all topics (not recommended, as this means recording '''a lot''' of unnecessary data), you could use the option -a instead of typing in all of the topic names.</div></td></tr>
<tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div># The bag file you just recorded is now in the current directory, so if you enter <pre>ls</pre> you can see it among the other files in the current directory. This should be the home directory (if you did not cd to somewhere else). You can now copy this file over the network to your own laptop by opening a '''new terminal''' (or just log out of the robot by pressing ctrl+D), navigating to the directory where you want to place your new bag file, and entering<pre>scp emc@192.168.<del style="font-weight: bold; text-decoration: none;">2</del>.81:~/<filename> <filename></pre> What this command does is the following: it securely copies (scp) from the emc account at the robot's computer the file given by the path after the colon and it places it in your current directory with the second file name. If you gathered multiple bag files on the robot's PC, you can easily copy all of them in one go by doing <pre>scp emc@192.168.<del style="font-weight: bold; text-decoration: none;">2</del>.81:~/*.bag .</pre> This will copy all files wit the .bag extention from the home folder of Pico to your current directory.</div></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div># The bag file you just recorded is now in the current directory, so if you enter <pre>ls</pre> you can see it among the other files in the current directory. This should be the home directory (if you did not cd to somewhere else). You can now copy this file over the network to your own laptop by opening a '''new terminal''' (or just log out of the robot by pressing ctrl+D), navigating to the directory where you want to place your new bag file, and entering<pre>scp emc@192.168.<ins style="font-weight: bold; text-decoration: none;">44</ins>.81:~/<filename> <filename></pre> What this command does is the following: it securely copies (scp) from the emc account at the robot's computer the file given by the path after the colon and it places it in your current directory with the second file name. If you gathered multiple bag files on the robot's PC, you can easily copy all of them in one go by doing <pre>scp emc@192.168.<ins style="font-weight: bold; text-decoration: none;">44</ins>.81:~/*.bag .</pre> This will copy all files wit the .bag extention from the home folder of Pico to your current directory.</div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div># After you have copied your bag files to your own PC, clean up the robot's PC by removing your bag file(s): <pre>rm <filename></pre> This '''permanently''' removes the file from the robot's file system, so if you want to keep it, make sure you only do this after copying it to your own PC!</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div># After you have copied your bag files to your own PC, clean up the robot's PC by removing your bag file(s): <pre>rm <filename></pre> This '''permanently''' removes the file from the robot's file system, so if you want to keep it, make sure you only do this after copying it to your own PC!</div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td></tr>
</table>S111208https://cstwiki.wtb.tue.nl/index.php?title=MRC/Using_Pico&diff=27228&oldid=prevYdouven: /* Recording data */2016-05-18T09:47:47Z<p><span dir="auto"><span class="autocomment">Recording data</span></span></p>
<table style="background-color: #fff; color: #202122;" data-mw="interface">
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<col class="diff-content" />
<col class="diff-marker" />
<col class="diff-content" />
<tr class="diff-title" lang="en">
<td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">← Older revision</td>
<td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">Revision as of 10:47, 18 May 2016</td>
</tr><tr><td colspan="2" class="diff-lineno" id="mw-diff-left-l47">Line 47:</td>
<td colspan="2" class="diff-lineno">Line 47:</td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>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 created 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.</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>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 created 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.</div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div># The first step is again to open a terminal and log in to the robot <pre>sshpico</pre></div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div># The first step is again to open a terminal and log in to the robot <pre>sshpico</pre></div></td></tr>
<tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div># Find the topics you would like to record (usually those will be the ones containing data from the LRF and the odometry) by using <pre>rostopic list</pre></div></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div># Find the topics you would like to record (usually those will be the ones containing data from the LRF and the odometry<ins style="font-weight: bold; text-decoration: none;">: /pico/laser and /pico/odom</ins>) by using <pre>rostopic list</pre></div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div># You can now use the rosbag tool to record the topics you like: <pre>rosbag record topic_1 topic_2</pre>Topic_1 and topic_2 should of course be changed to the correct topic names, but you can also add more topics to this command. While recording, you should leave this terminal open, and if you think you have enough data, you can stop recording by pressing ctrl+C. If you would like to record all topics (not recommended, as this means recording '''a lot''' of unnecessary data), you could use the option -a instead of typing in all of the topic names.</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div># You can now use the rosbag tool to record the topics you like: <pre>rosbag record topic_1 topic_2</pre>Topic_1 and topic_2 should of course be changed to the correct topic names, but you can also add more topics to this command. While recording, you should leave this terminal open, and if you think you have enough data, you can stop recording by pressing ctrl+C. If you would like to record all topics (not recommended, as this means recording '''a lot''' of unnecessary data), you could use the option -a instead of typing in all of the topic names.</div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div># The bag file you just recorded is now in the current directory, so if you enter <pre>ls</pre> you can see it among the other files in the current directory. This should be the home directory (if you did not cd to somewhere else). You can now copy this file over the network to your own laptop by opening a '''new terminal''' (or just log out of the robot by pressing ctrl+D), navigating to the directory where you want to place your new bag file, and entering<pre>scp emc@192.168.2.81:~/<filename> <filename></pre> What this command does is the following: it securely copies (scp) from the emc account at the robot's computer the file given by the path after the colon and it places it in your current directory with the second file name. If you gathered multiple bag files on the robot's PC, you can easily copy all of them in one go by doing <pre>scp emc@192.168.2.81:~/*.bag .</pre> This will copy all files wit the .bag extention from the home folder of Pico to your current directory.</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div># The bag file you just recorded is now in the current directory, so if you enter <pre>ls</pre> you can see it among the other files in the current directory. This should be the home directory (if you did not cd to somewhere else). You can now copy this file over the network to your own laptop by opening a '''new terminal''' (or just log out of the robot by pressing ctrl+D), navigating to the directory where you want to place your new bag file, and entering<pre>scp emc@192.168.2.81:~/<filename> <filename></pre> What this command does is the following: it securely copies (scp) from the emc account at the robot's computer the file given by the path after the colon and it places it in your current directory with the second file name. If you gathered multiple bag files on the robot's PC, you can easily copy all of them in one go by doing <pre>scp emc@192.168.2.81:~/*.bag .</pre> This will copy all files wit the .bag extention from the home folder of Pico to your current directory.</div></td></tr>
</table>Ydouven