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Demo Setup

Intro

Basically all the steps we think are needed to get the Fall 208 Demo Script to work. This was gathered by the team and then experimented and revised further by Pito during the post-semester break.

Onboard Laptop Steps:

  • SSH into the robot’s onboard laptop (turtlebot@129.64.243.64)
  • Start a roscore
  • Do a bringup for the onboard laptop: “roslaunch cr_ros campus_rover.launch”
  • Wait until the bringup finishes. Look for “Odom received” message

On another machine (needs to be more powerful for this than for the web app)

  • Run roslaunch cr_ros offboard_launch.launch
  • Wait until the bringup finishes. Look for “Odom received” message

On a third machine

  • Install Flask
  • Clone cr_web repo
  • cd into cr_web
  • Make sure to bring up TB2 (with cr_ros), or run a local roscore
  • export ROS_MASTERURI=_http://______
  • export FLASK_APP=rover_app
  • flask run --no-reload --host=0.0.0.0 --with-threads

Note: --host=0.0.0.0 and --with-threads are only needed if other client machines need to access the hosted app.

  • Go to localhost:5000/, or replace localhost with the other machine’s IP if you’re accessing it from a client machine. (edited)

Known dependencies:

  • aruco_detect (for fiducial_msgs import error)
  • pip install face_recognition
  • Kobuki docking might be part of the general TB2 install or may need to be separate

On offboard computer

  • sudo apt-get install ros-kinetic-moveit-ros-visualization
  • make sure that ROS_MASTER_URI=http://129.64.243.64:11311 (or whereever roscore is runnung)