Demo setup for the IstiABot

Using the previous part of this tutorial

You need to install and setup Lubuntu, the CAN bus, github, ROS, the wifi as hotspot (after downloading everything...). This has to be done according to the previous part of this tutorial.

Specific downloads

RosBridge

You need to install rosbridge for the distance communication between the robot and a PC or smartphone. To do that:

$ sudo apt-get install ros-kinetic-rosbridge-server

gitHub Repositories

In the catkin_ws folder (ROS installation), you need to clone the following repositories from github:

• robotpeak/rplidar_ros
• PolytechAngersMecatroniqueClub/ibot_can_interface
• PolytechAngersMecatroniqueClub/IbotSlam
• PolytechAngersMecatroniqueClub/ibot_launch

Then do not forget to compile and install the nodes:

catkin_make -j2
catkin_make install

The Web interface

You need to install apache2 for the distance control and visualization over a webbrowser. To do that:

$ sudo apt-get install apache2

Then clone the repository PolytechAngersMecatroniqueClub/ibot_html, and replace the /vat/www/html folder of the rapsberry by the one in the repository. Note that you can change the name of the robot in the index.hml file.

ease the demo start with an executable file

At the home of the raspberry pi, create a start_demo.bash file :

$ cd 
$ nano start_demo.bash

and add the following content :

#!/bin/bash

rosclean purge -y
roslaunch ibot_launch IstiABot_demo.launch

To make the file executable, do

$ chmod +x start_demo.bash

Starting the demo

Once everything is ready in the raspberry pi, you can start the robot.

A wifi network should appears named with IBOT_NAME. Connect yourself to the wifi (WIFI_TOBI as password), and use ssh to be connected to the robot (IP: 192.168.49.1).

Once connected with ssh, you can start the demo with the command:

$ ./start_demo.bash

This should launch ROS and all the needed node.

Control the robot

Once ROS is started, open a webbrowser and go to the url : http://192.168.49.1

You should have a web page with the name of the robot, and a message saying that you are connected. If there is a message saying that you are not connected, this is because rosbridge is not started in the robot.

If you are connected, you should be able to move the robot using the keyboard arrows or the letters 'Z','S','Q','D'.

Visualizing the map

To visualize the map, you can use a webbrowser and go to the url : http://192.168.49.1/map.html

You can also use rviz remotly (previously explained in this tutorial).