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roboter
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roboter
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user: sbrugger pwd wie TU
roboter soll wireless hotspot machen
(hosted, hostpd,...?)
Von patro aus hats noch nicht geklappt
ROS_MASTER_URI -> als param oder env variable
ip: 128.130.39.49
---- von patro aus steuern ---
roscore nicht starten
--PATRO--:
export ROS_MASTER_URI=http://dagobert:11311/
rosrun p3at keyboard_control
--DAGOBERT--:
adhoc netzwerk erstellen (p3at)
andere ip addresse im /etc/hosts file eintragen
export ROS_MASTER_URI=http://dagobert:11311/
roscore
rosrun ROSARIA RosAria _port:=/dev/ttyS0
rosrun p3at security
--- end von patro aus steuern ---
/usr/local/Aria/params
rostopic list
rostopic echo /RosAria/bumper_state
rostopic echo /RosAria/sonar
abstand ist y-Wert (ca in m)
rosmsg type /RosAria/sonar
--- CAMERA Canon vc-c50i---
sudo apt-get install libgstreamer0.10-dev libgstreamer-plugins-base0.10-dev
Download gscam from ros.org
cd workspace/src/gscam
rosmake gscam (ca. 60 sec)
--- LASER ---
type: lms1xx (lms100)
port: 192.168.0.1
Download laser drivers from ros.org
cd workspace/src/laser_drivers
rosmake LMS1xx -- in src file ip-address geändert
rosrun LMS1xx LMS100
---SLAM gmapping---
cd workspace/src/slam_gmapping/gmapping
rosmake gmapping (ca. 100 sekunden)
internet connection ist notwendig! (md5sum check)
only works on robot! not on laptop :(
--- mobilerobots ----
serial: GMC_4089
user: vienna4
password: ab7-2+B!
--p2os, navigationstack---
https://sites.google.com/site/slamnavigation/
--- navigationstack ---
download zip from here: https://github.com/ros-planning/navigation
rosmake navigation
start:
AM ROBOTER:
sudo ./accessPoint.sh
./start_navigation (verwendet security_navigation module)
AM LAPTOP (sonst geht sich control_frequency nicht aus, pc zu schwach):
roslaunch navigation-groovy-devel/move_base.launch
rosrun rviz rviz navigation.rviz
relevante configfiles:
navigation-groovy-devel/move_base.launch
p2os-master/p2os_launch/launch/global_costmap_params.yaml
p2os-master/p2os_launch/launch/local_costmap_params.yaml
...
-- virtual machine (VM)--
netzwerkadapter muss auf "Netwerkbrücke" eingestellt werden
ROS_IP muss in VM auf aktuelle IP Adresse gesetzt werden (10.42.0.19)
--- accesspoint password ---
p3at2013
http://nims11.wordpress.com/2012/04/27/hostapd-the-linux-way-to-create-virtual-wifi-access-point/
http://www.usa.canon.com/cusa/support/consumer/security_video_solutions/analog_pan_tilt_zoom_cameras/vc_c50i_vc_c50ir#DriversAndSoftware
--- docu ---
class list
http://mirror.umd.edu/roswiki/doc/diamondback/api/gmapping/html/annotated.html