/msd_exhibition

msd700 ros navigation for exhibition

Primary LanguageCMake

MSD_cartographer navigation for Exhibitions

INSTALL & SETUP

  1. create ros workspase and install ros-melodic
mkdir -p catkin_ws/src
cd !$
git clone https://github.com/tomoswifty/msd_exhibition.git
cd ~/catkin_ws/src/msd_exhibition/install_requires
sudo chmodv +x dep.sh repo.sh
./repo.sh
  1. install ros
cd ~/robotis_tools/
sudo chmodv +x install_ros_melodic.sh
./install_ros_melodic.sh
cd ~/catkin_ws/src/msd_exhibition/install_requires
./depc.sh

cd ~/catkin_ws/src/msd_exhibition/scripts/
sudo chmod +x to_esp.py
  1. install vnc
sudo apt update
sudo apt install -y tigervnc-common tigervnc-standalone-server tigervnc-scraping-server
# パスワードの設定
vncpasswd

# 起動
x0vncserver -display :0 -passwordfile ~/.vnc/passwd
# 別途、X環境を作る場合は、vncserver :1 などにする

USAGE

  1. connect wi-fi by cli
# アクセスポイントの表示
nmcli device wifi
sudo nmcli device wifi rescan # 再スキャン
# 接続
sudo nmcli device wifi connect [SSID | BSSID] password [password]
# 切断
sudo nmcli radio wifi off
sudo nmcli radio wifi # enable/disableが確認できます。
  1. access via vnc
x0vncserver -display :0 -passwordfile ~/.vnc/passwd

Connect RPLiDAR S1 to USB port and add authentifications sudo chmod 666 /dev/ttyUSB0 Next connect to esp32-s3 and add authentifications sudo chmod 666 /dev/ttyUSB1. so,type below

ls -l /dev/ttyUSB*
sudo chmod 666 /dev/ttyUSB*

launch

just move using joy -PS4 Dualshock controler

roslaunch msd_exhibition bringup_teleop.launch

launch for SLAM

roslaunch msd_exhibition msd_slam.launch

launch for NAVIGATION

roslaunch msd_exhibition msd_nav.launch