Skip to content

Latest commit

 

History

History
85 lines (67 loc) · 3.28 KB

README.md

File metadata and controls

85 lines (67 loc) · 3.28 KB
Raw

ALIASES

To create the Aliases for this program as laid out, follow these steps:

  1. Open a terminal.

  2. Open your .bashrc file using a text editor. For example, you can use the following command to open it with the Nano editor:

nano ~/.bashrc

  1. Go to the bottom of your editor or .bashrc file

  2. Add the following (make sure lines aren't duplicated from other installations/setups i.e. "source /opt/ros/humble/setup.bash may already be there from the ros2 setup)

source /opt/ros/humble/setup.bash
source ~/trail_ws/install/setup.bash
source ~/microros_ws/install/setup.bash
source ~/microros_ws/install/local_setup.bash

export ROS_LOCALHOST_ONLY=1
#export ROS_DOMAIN_ID=7 #microros currently only works with ros_domain_id 0

# Launch Arduino ide
alias arduino="~/Downloads/arduino-ide_2.1.0_Linux_64bit/arduino-ide"

# Run microros agent and operate servos
alias run_agent="ros2 run micro_ros_agent micro_ros_agent serial --dev /dev/arduino -v6"
alias run_s1="ros2 service call /runservo trailbot_interfaces/srv/RunServo '{servo: 1}'"
alias run_s2="ros2 service call /runservo trailbot_interfaces/srv/RunServo '{servo: 2}'"
alias run_s3="ros2 service call /runservo trailbot_interfaces/srv/RunServo '{servo: 3}'"
alias run_s4="ros2 service call /runservo trailbot_interfaces/srv/RunServo '{servo: 4}'"

# Launch voice assistant node and change state to query
alias voice="ros2 launch voice_assistant voice_assistant.launch.py"
alias query="ros2 topic pub --once /trailbot_state std_msgs/msg/String '{data: 'QueryState'}'"

export ELEVENLABS_API_KEY="______________________"
export OPENAI_API_KEY="______________________"

#sudo tee /sys/module/usbcore/parameters/usbfs_memory_mb >/dev/null <<<0

save_map() {
        current_date=$(date +"$Y-%m-%d_%M")
        folder_path="$HOME/ros2_ws/saved_maps"

        ros2 run nav2_map_server map_saver_cli -f "$folder_path/$current_date"
}

# 3 Main Launch files
alias drive="ros2 launch trailbot_bringup driving.launch.py"
alias slam_2D="ros2 launch trailbot_bringup slam_2D.launch.py"
alias slam_3D="ros2 launch trailbot_bringup slam_3D.launch.py"
alias nav_2D="ros2 launch trailbot_bringup nav_2D.launch.py"
alias nav_3D="ros2 launch trailbot_bringup nav_3D.launch.py"
alias bot="ros2 launch trailbot_bringup demo1.launch.py"

  1. Save and exit the file:

    • Press Ctrl+X.
    • Press Y to confirm saving changes.
    • Press Enter to exit Nano.

  2. To make the changes take effect, run the following command in the terminal:

source ~/.bashrc

These are the following Aliases and their uses

Command Usage
bot Runs the full trailbot package (snack delivery)
slam_2D Runs TRAILbot only using slam with 2D carto
slam_3D Runs TRAILbot only using navigation with 3D carto
nav_2D Runs TRAILbot only using navigation with 2D carto
nav_3D Runs TRAILbot only using navigation with 3D carto
drive Run when only wanting to drive/move TRAILbot
save_map Use to save the map created by cartographer (requires directory ~/ros2_ws/saved_maps)
run_agent Runs micro ros agent, use for running arduino
run_s* Used to run different servo motors (* should be replaced with a number from 1-4)
voice Runs voice assistant for snacks
query Run to use querying with voice assistant