Run rover Ercole - Kraft2k/icebox-rover GitHub Wiki

IF ssh: connect to host 192.168.XXX.XXX port 22: Connection refused

sudo service ssh status

sudo service ssh start

Run Raspberry Pi

$ ssh [email protected]

Run Orangepi

$ ssh [email protected]

Run VPN on Raspberry PI

sudo su

cd /etc/wireguard

wg-quick up wgo

$ ssh [email protected]

$ sudo bluetoothctl

PS4, last 4-digits 1268

$ connect A0:5A:5C:B3:3A:75

$ python3 ErcoleController.py

$ ros2 launch rplidar_ros rplidar.launch.py

$ ros2 launch rplidar_ros rplidar_a1_launch.py

$ ros2 luanch rplidar_ros rplidar_a2m12_launch.py

$ ros2 launch rplidar_ros view_rplidar_a1_launch.py

$ ros2 luanch rplidar_ros view_rplidar_a2m12_launch.py

$ ros2 launch ercole_bringup base.launch.py

on rover

ros2 run rplidar_ros rplidar_composition --ros-args -p serial_port:=/dev/ttyUSB0 -p frame_id:=laser_frame -p angle_compensate:=true -p scan_mode:=Standard

on desktop

ros2 launch rplidar_ros view_rplidar_a1_launch.py

For all ROS based use cases, the zuuu_hal node must be running :

ros2 run zuuu_hal hal

or

ros2 launch zuuu_hal hal.launch.py

Control with keyboard on desktop

ros2 run teleop_twist_keyboard teleop_twist_keyboard

or a joystick on orangepi

ros2 launch zuuu_hal test_joystick.launch.py

ros2 run zuuu_hal teleop_joy

Turn off Lidar Safety Mode

ros2 service call /SetZuuuSafety zuuu_interfaces/srv/SetZuuuSafety "{safety_on: False}"

Turn on Front Lights

ros2 service call /SetFrontLights zuuu_interfaces/srv/SetFrontLights "{front_lights_on: True}"

Sets a constant speed for a given duration.

  1. Go forward

ros2 service call /SetSpeed zuuu_interfaces/srv/SetSpeed "{x_vel: 0.11, y_vel: 0.0, rot_vel: 0.0, duration: 1.1415}"

  1. Go backward

ros2 service call /SetSpeed zuuu_interfaces/srv/SetSpeed "{x_vel: -0.11, y_vel: 0.0, rot_vel: 0.0, duration: 1.1415}"

  1. Right turn in place

ros2 service call /SetSpeed zuuu_interfaces/srv/SetSpeed "{x_vel: 0.0, y_vel: 0.0, rot_vel: 0.5, duration: 3.1415}"

  1. Left turn in place

ros2 service call /SetSpeed zuuu_interfaces/srv/SetSpeed "{x_vel: 0.0, y_vel: 0.0, rot_vel: -0.5, duration: 3.1415}"