For Running Scarabs with Vicon on your computer/laptop create a workspace with following packages and compile.
mkdir -p ~/ws_scarab/src
cd ~/ws_scarab
catkin init
cd ~/ws_scarab/src
git clone https://github.com/KumarRobotics/motion_capture_system.git
git clone https://github.com/KumarRobotics/scarab
catkin build
source ~/ws_scarab/devel/setup.bash
tmux
roscore
roslaunch scarab rviz.launch agent:=scarab41
export ROS_IP=$(ifconfig | sed -En 's/127.0.0.1//;s/.*inet (addr:)?(([0-9]*\.){3}[0-9]*).*/\2/p')
roslaunch scarab vicon.launch
On the scarab (Note: ROS_MASTER_URI and ROS_IP are automatically set to the SSH_CLIENT)
tmux
ssh [email protected]
roslaunch scarab navigation.launch use_vicon:=true
Run a random goal publisher node (Goal generated within map bounds in config file)
roslaunch hfn scarab_wp.launch
Publish a geometry_msgs/PoseStamped on /scarab41/move_base_simple/goal If the robot does not move, your ROS_IP is not set. Use following
export ROS_IP=$(ifconfig | sed -En 's/127.0.0.1//;s/.*inet (addr:)?(([0-9]*\.){3}[0-9]*).*/\2/p')