Awesome Cabot GUI

Dependencies

This app depends on Node.js environment to run. yarn is the recommended dependency management tool. To install them, run:

curl -sL https://deb.nodesource.com/setup_8.x | sudo -E bash -
echo "deb https://dl.yarnpkg.com/debian/ stable main" | sudo tee /etc/apt/sources.list.d/yarn.list
curl -sS https://dl.yarnpkg.com/debian/pubkey.gpg | sudo apt-key add -
sudo apt-get update && sudo apt-get install nodejs yarn

You also need to install locally the dependency for this specific application, run in the folder

yarn

How to run this

If you just want to teleoping Cabot

• Connect your laptop with Arduino on Cabot
• Make sure laptop and remote control device are in the same network ( I suggest eduroam, username is {andrewid}@andrew.cmu.edu and password is andrew password )
• run roslaunch localizer get_odom.launch anywhere and run yarn start in this folder
• Go to your remote control device, open the browser, in the address bar, enter the ip address:3000 as is shown in the yarn start window

If you also want to see the map, localization, trajectory etc.

• Same as above, but change roslaunch localizer get_odom.launch to roslaunch localizer localizer.launch

If you want to do all the things

First run the one-for-all script to do everything else

roslaunch localizer move_base.launch

Then run this to open the browser and play with it

yarn start