Difference between revisions of "Floor Hugger Launch Scripts"
(→Keyboard Survey) |
(→Teleop with keyboard and no streaming) |
||
Line 41: | Line 41: | ||
## [[key_publisher.py]] | ## [[key_publisher.py]] | ||
## [[keys_to_twist_slow.py]] | ## [[keys_to_twist_slow.py]] | ||
+ | |||
+ | * [http://wiki.ros.org/teleop_twist_keyboard ROS Keyboard Teleop] TBD integrate into options | ||
= LIDAR Scan = | = LIDAR Scan = |
Latest revision as of 08:35, 30 June 2016
Contents
Prep
The following may be necessary. Fix TBD
sudo chmod 666 /dev/ttyUSB0 sudo chmod 666 /dev/video0 sudo chmod 666 /dev/input/js0
Teleop
Teleop robot control
Web teleop and video streaming
Use the joystick teleop control through the wev and generate video streaming over the web.
Notes
Browse to the robot's joystick control page (use Chrome on Mac)
http://10.0.0.111/~eepp/js_twist.html
Browse to the robot's video streamer
http://10.0.0.111:8080/
Teleop with local joystick and no streaming
Teleop with keyboard and no streaming
- ROS Keyboard Teleop TBD integrate into options
LIDAR Scan
Collect scan, odometry, and transform information
Mapping
Static Survey - Teleop plus Scan - with Static Map Generation
Generate scan, odometry, and transform teleop under teleop control
Web Survey
Use the joystick teleop control and generate video streaming over the web.
- survey.launch Prep For Gmapping with XV 11 using ROS See Notes
Notes
Browse to the robot's joystick control page (use Chrome on Mac)
http://10.0.0.111/~eepp/js_twist.html
Browse to the robot's video streamer
http://10.0.0.111:8080/
Direct Joystick Survey
Use a joystick teleop control connected directly to the robot. No video stream is necessary.
- js_survey.launch See above and Notes
- js_teleop.launch See ROS Teleop
- scan.launch See above
Keyboard Survey
These two launch scripts have not been captured into a larger script like the ones above. View this as pick a teleop approach followed by LIDAR scan in another window.
- keyboard_teleop.launchSee Quigley Gerkey Smart
- scan.launch See above
Save the Messages
Save the scan, odometry and transform message into the current directory. See Gmapping with XV 11 using ROS
rosbag record scan odom tf
Generate a Map
In two terminals. See Gmapping with XV 11 using ROS.
rosparam set use_sim_time true rosbag play --clock <bag name>.bag rosrun map_server map_saver
Note
Be sure to set use_sim_time back to false.
Dynamic Survey - Teleop plus Scan - with Dynamic Map Generation
In three terminals:
- Pick a teleop See Floor_Hugger_Launch_Scripts#Teleop
- active_mapping.launch See SLAM with XV 11 using ROS
- At any time save off a map Gmapping with XV 11 using ROS
- rosrun map_server map_saver