IRpOSRunning - RCPRG-ros-pkg/irp6_robot GitHub Wiki

Running IRPOS in hardware and nohardware modes

Running IRPOS on the real robots in 012 laboratory

Turning on hardware using control panel

  • Make sure that emergency stop is nearby.
  • Switch power on by turning "ZAS" key right.
  • Press "LOG" button.
  • Wait a second, and turn on power of robot by pressing white key.
  • Use black keys to turn of power of particular robots

Running the software on PC

  • The robot hardware communicates with gerwazy host, hence the deployers and irp6-common-realclock.launch should be activated on that hosts
  • Remember that in every new ROS console you should source ROS, i.e. the custom one or
source ~/opt/ws_irp6/setup.bash
  • If the console is activated on other host then gerwazy (on localhost) the export command is additionally needed
export ROS_MASTER_URI=http://gerwazy:11311
  • In new console (on gerwazy) run irp6-common-realclock.launch file (only one per PC is valid so special script was created)
rosrun irp6_bringup run_common_realclock.sh
  • in new console (on gerwazy) run deployer launch file, e.g.:
roslaunch irp6_bringup irp6-conv-hardware.launch
  • in new console (on localhost) run rqt to synchronise and monitor robots
rqt

  • in rqt activate Irp6 Dashboard plugin

  • You can run RViz in other console (on localhost)

rosrun rviz rviz
  • If you run RViz the first time some extra operations are needed
  • click Add, then choose rviz->RobotModel
  • in GlobalOptions change FixedFrame to world
  • the exemplary scripts to command the robot are located in scripts directory of irp6_bringup package

Shutting down the IRp-6 hardware and driver

On PC

  • Kill deployer with "Ctrl+C" and "Ctrl+D".
  • If no other users are running theirs deployers kill irp6-common-realclock.launch console

On robot control panel

  • Press emergency stop or "STOP" button on panel.
  • Switch power of by turning key "ZAS" left.

Running IRpOS in test (nohardware) mode

In general this mode is very similar in running to hardware one with a few exceptions:

  • run irp6-common-simclock.launch
  • every ROS node can be run on localhost
  • instead of hardware on the nohardware deployer should be run, e.g.
roslaunch irp6_bringup irp6-conv-nohardware.launch