CSU-NASA-RMC-2022

For easy testing, go to The Construct website and use their free online simulator. See sections below for help on using git with Github.

Run the robot at competition

Here are the instructions to run the robot at competition (assuming that you have properly built and sourced ROS and the required packages):

Terminal 1 roscore

Terminal 2 rosrun joy joy_node

Terminal 3 roslaunch moony_bringup start_moony.launch OR roslaunch moony_bringup start_moonyWithLidar.launch OR roslaunch moony_bringup start_moonyWithLidarAndBeacon.launch

Terminal 4 - enable communication to the Tensy rosrun rosserial_python serial_node.py /dev/ttyACM1

Terminal 5 - for topic visulization and sending commands rqt

• see topic monitor
• see topic publisher
• dynamic reconfigure to change PID parameters

Misc

To view USB ports ls /dev/ | grep USB To view ACM ports ls /dev/ | grep ACM

Navigation simulation in Gazebo

Each of the following commands should be performed in sequential order in individual terminals resulting in multiple terminal commands running at one time.

• roscore
• roslaunch moony_description rviz_view_move_base.launch # for data visualization
• roslaunch moony_navigation_gazebo competition_main.launch
• roslaunch moony_navigation_gazebo gmapping.launch
• rosrun moony_autonomy_navigate navigate_server.py
• rosrun moony_autonomy_navigate navigate_client.py

How to pull in submodule code (i.e. rplidar_ros)

git submodule init git submodule update

How to get update recent updates from github

cd catkin_ws/src/CSU-NASA-RMC-2022/ git pull

How to push updates to our github

git add * git commit -m "decription of updates" git push

then you need to enter your username and token

How to start action server and client - using 3 terminals

1. roscore
2. rosrun your_package your_python_server.py
3. rosrun your_package your_python_client.py

Extras: Try to create map from logged data

These are the commands I have been running to try and create a map from logged data.

http://wiki.ros.org/slam_gmapping/Tutorials/MappingFromLoggedData

1. Terminal one

• roscore

2. Terminal two

• rosparam set use_sim_time true
• rosrun gmapping slam_gmapping scan:=base_scan

3. Terminal three - play the bag of saved data

• roscd moony_2dnav_simulation/bag
• rosbag play --clock basic_localization_stage.bag

4. Optional, Terminal four: visualize the data (you can add laser scan data and map data)

• rosrun rviz rviz