Nodes

A[talker.py] -- Create Service --> B(chatter) C[listener.py] == Subscribe ==> B(chatter) D[pantilt_listener.py] == Subscribe ==> B(chatter)

TODO:

Implement differential driving
Show latency from UDP timestamp
- Timestamp in messsages
- Calculate latency in SimpleServer
Rename listener.py, talker.py, chatter topic
Being able to control over 3G
Main dashboard
Control Lights

PS4 Controls:

Camera Control:

Pad: Move camera center
R Axis: Look camera around
R3 Button: Center Camer

Movement control

L Axis: Steering
R2: Accelerate forward
L2: Accelerate backwards

Work Setup

Start controller client in local machine

python client.py -h 10.8.0.10 --python2

Mount FS

sudo sshfs -o allow_other,defer_permissions pi@10.8.0.10:/ /Users/alberto.naranjo/Documents/Raspberry\ PI/mount

Start working and launch from home/

. start_ros.bash

Start Working environment

cd ~/ros_catkin_ws . devel/setup.bash roscd ros_rover

Build package and Source

Only first time when you have a new one. ~/ros_catkin_ws catkin_make . devel/setup.bash

Start Core

nohup roscore &

Stop Core

killall -9 roscore killall -9 rosmaster

Start nodes

nohup rosrun ros_rover talker.py & rosrun ros_rover listener.py

Kill Node

ps aux | grep scripts/talker.py kill -9 pid

Echo topic node

rostopic echo chatter

list topics

rostopic list

New Node

Create a new python inside src/[package_name]/scripts
Make executable chmod +x [myscript].py .....

Create MSG and SRV http://wiki.ros.org/ROS/Tutorials/CreatingMsgAndSrv#Creating_a_srv

Create a new ROS package

cd ~/ros_catkin_ws/src catkin_create_pkg ros_rover std_msgs rospy roscpp catkin_make . ~/ros_catkin_ws/devel/setup.bash rospack depends1 ros_rover

Veilkrand/ros_rover