roslaunch rallycar pid_controller.launch
roslaunch rallycar pid_controller.launch
In the first terminal: roscore In a second terminal: rosrun rallycar test_angleCalculator.py
In the first terminal: roscore In a second terminal: rosrun rallycar test_poseCalculator.py
https://docs.github.com/en/get-started/quickstart/set-up-git https://docs.github.com/en/authentication/connecting-to-github-with-ssh/generating-a-new-ssh-key-and-adding-it-to-the-ssh-agent https://docs.github.com/en/authentication/connecting-to-github-with-ssh/working-with-ssh-key-passphrases
https://www.digitalocean.com/community/tutorials/how-to-create-a-pull-request-on-github
source /opt/ros/noetic/setup.bash
roscore - start ros server rotopic list - list all topics rostopic info - provides type, publisher and subscriber of a topic rostopic echo - dumps topic messages into command line rqt_graph - show connectivity of topics rosmsg show - list data stored in a topic chmod +x - adds executable permission to file, "ls " will show as green afterwards rostopic hz - Displays the frequency of message
rosbag record -a -o <bag file name *.bag> Record all topics to a bag file with custom name rosbag info Displays info about ROS bag rosbag play Plays recorded messages in bag file rosbag play -1 Play rosbag file in a loop continously rosbag play -l -r 0.5 play rosbag file in a loop at x0.5 speed
Be sure to run chmod +x on the python files before doing a roslaunch command Solves: ERROR: cannot launch node of type [rallycar/motor_driver.py]: can't locate node [motor_driver.py] in package [rallycar]
Step 1: Connect to "ROSlab5" wifi. The Password is "ros@purdue" Step 2: Open your Remmina application in your applications folder. It should already be installed on your Linux machine. Step 3: Create a new connection profile in Remmina by clicking the button in the top left corner (the square symbol with a plus symbol on it's bottom right corner) Step 4: Modify the following "Connection Profile Settings": Protocol: Remmina VNC Plugin Server 192.168.43.19x (Replace the "x" with the number of the car) Username: nvidia Step 5: Click "save & connect" to save your settings and connect to CarX Step 6: You will be prompted with a VNC password. The password is "crlx" with the "x" replaced with the car's number. Congratulations, you have logged into the "nvidia" account on CarX! Warning: If you log out of the "nvidia" account, you will still be sshed into the car and can then log into the "crlx" account. This is not recommended, though, because once you log out of the "crlx" account, you for some reason cannot ssh back into the vehicle. You have to connect the vehicle to a monitor to safely shut it down before you can ssh back into the car.
Note: If you run into issues, more information can be found inside of the vehicle's documentation.
To remote desktop into the crlX user account there is a remote desktop setting on the car that needs to be changed
- Open Desktop Sharing application
- Under Security check "You must confirm each access to this machine"
- A popup will show up on the host desktop, click allow
Make a folders called westGate500/src to house your ROS workspace: $ mkdir westGate500/src
Move into the folder you just created: $ cd westGate500/src
Source the ros workspace: westGate500/src$ source /opt/ros/noetic/setup.bash
Back out of src folder: westGate500/src$ cd ..
Set up the ros workspace: westGate500$ source devel/setup.bash
Run catkin make: westGate500$ catkin_make
How to install noetic version of urg_node ros package: westGate500$ sudo apt-get install ros-noetic-urg-node
Source the ros workspace: westGate500$ source devel/setup.bash
Run catkin make: westGate500$ catkin_make
Move into scripts folder: westGate500$ cd src/rallycar/scripts
Set up the downloaded python scripts as executables: westGate500/src/rallycar/scripts$ chmod +x motor_driver.py path_server.py rally>
How to install git: $ sudo apt-get install git