Codes from Group 4-3-2.
- Take note of master (PC) and slave (Alex) IP Address
me@master:~$ hostname -I- Add PC and Pi's host names to /etc/hosts
me@master:~$ sudo echo -e "$(master_ip) master\n$(slave_ip) slave" >> /etc/hosts
pi@slave:~$ sudo echo -e "$(master_ip) master\n$(slave_ip) slave" >> /etc/hosts- Setup SSH public keys for ROS
me@master:~$ ssh-keygen -t rsa
Generating public/private rsa key pair.
Enter file in which to save the key (/home/me/.ssh/id_rsa):
Enter passphrase (empty for no passphrase):
Enter same passphrase again:
Your identification has been saved in /home/me/.ssh/id_rsa.
Your public key has been saved in /home/me/.ssh/id_rsa.pub.
The key fingerprint is:
SHA256:Up6KjbnEV4Hgfo75YM393QdQsK3Z0aTNBz0DoirrW+c me@master
The key's randomart image is:
+---[RSA 2048]----+
| . ..oo..|
| . . . . .o.X.|
| . . o. ..+ B|
| . o.o .+ ..|
| ..o.S o.. |
| . %o= . |
| @.B... . |
| o.=. o. . . .|
| .oo E. . .. |
+----[SHA256]-----+
me@master:~$ ssh-copy-id pi@slave-
Install and make rplidar_ros on both machines as per studio. Follow Studio 11 pg 2-4 to reduce power usage on RPi.
-
Export ROS settings in respective setup.bash
me@master:~$ echo -e "export ROS_MASTER_URI = http://$(master_ip):11311/\nexport ROS_IP = $(master_ip)\nexport ROS_HOSTNAME = master" >> setup.bash
pi@slave:~$ echo -e "export ROS_MASTER_URI = http://$(master_ip):11311/\nexport ROS_IP = $(slave_ip)\nexport ROS_HOSTNAME = slave" >> setup.bash-
In master, replace Laptop/view_slam.launch from this repo to "slam\src\rplidar_ros\launch". Edit fields labelled "HERE" in view_slam.launch
-
In slave, copy Pi/move.bash
SSH to slave and run move.bash in Pi
me@master:~$ ssh pi@slave
Linux raspberrypi 4.14.98-v7+ #1200 SMP Tue Feb 12 20:27:48 GMT 2019 armv7l
The programs included with the Debian GNU/Linux system are free software;
the exact distribution terms for each program are described in the
individual files in /usr/share/doc/*/copyright.
Debian GNU/Linux comes with ABSOLUTELY NO WARRANTY, to the extent
permitted by applicable law.
Last login:
pi@slave:~$ cd ~/Pi
pi@slave:~/Pi$ . move.bash- Run view_slam.launch, which should open rviz.
- If there are errors, disable firewall and check dependencies.
pi@slave:~$ . slam/devel/setup.bash
pi@slave:~$ roslaunch rplidar_ros view_slam.launch
... logging to
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://master:6422/
remote[slave-0] starting roslaunch
remote[slave-0]: creating ssh connection to slave:22, user[slave]
launching remote roslaunch child with command: [env ... ... roslaunch -c slave-0 -u http://master:6422/ --run_id ddb0a6c8-8310-11ea-9298-3cf011fd2342]
remote[slave-0]: ssh connection created
SUMMARY
========
PARAMETERS
* /hector_height_mapping/advertise_map_service: True
* /hector_height_mapping/base_frame: base_link
* /hector_height_mapping/map_pub_period: 0.5
* /hector_height_mapping/map_resolution: 0.05
* /hector_height_mapping/map_size: 1024
* /hector_height_mapping/map_start_x: 0.5
* /hector_height_mapping/map_start_y: 0.5
* /hector_height_mapping/map_update_angle_thresh: 0.1
* /hector_height_mapping/map_update_distance_thresh: 0.02
* /hector_height_mapping/map_with_known_poses: False
* /hector_height_mapping/odom_frame: base_link
* /hector_height_mapping/output_timing: False
* /hector_height_mapping/pub_map_odom_transform: True
* /hector_height_mapping/scan_topic: scan
* /hector_height_mapping/update_factor_free: 0.45
* /hector_height_mapping/use_tf_pose_start_estimate: False
* /hector_height_mapping/use_tf_scan_transformation: True
* /rosdistro: melodic
* /rosversion: 1.14.5
* /rplidarNode/angle_compensate: True
* /rplidarNode/frame_id: laser
* /rplidarNode/inverted: False
* /rplidarNode/serial_baudrate: 115200
* /rplidarNode/serial_port: /dev/ttyUSB0
* /use_sim_time: False
MACHINES
* master
* slave
NODES
/
hector_height_mapping (hector_mapping/hector_mapping)
link1_broadcaster (tf/static_transform_publisher)
rplidarNode (rplidar_ros/rplidarNode)
rviz (rviz/rviz)
ROS_MASTER_URI=http://...:11311
process[rviz-1]: started with pid [4498]
[slave-0]: launching nodes...
[slave-0]: ROS_MASTER_URI=http://...:11311/
[slave-0]: process[rplidarNode-1]: started with pid [12126]
[slave-0]: process[link1_broadcaster-2]: started with pid [12127]
[slave-0]: process[hector_height_mapping-3]: started with pid [12131]
[slave-0]: ... done launching nodes- In RViz, select Displays/Map/Unreliable
- For convenience, close sidebars and File/Save config