Nodes

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

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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

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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

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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

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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

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New Node

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

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

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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