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Running Waypoint Following App

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Berk Cagilci edited this page Jul 26, 2018 · 11 revisions

How to run waypoint following on car:

DONE ON CAR:

NOTE: Before each step on the car, pull up a new terminal, and run:

source ~/catkin_ws/devel/setup.bash

  1. Run roscore -> roscore

  2. Start up rosbridge server -> roslaunch rosbridge_server rosbridge_websocket.launch

  3. Initialize serial python node -> rosrun rosserial_python serial_node.py /dev/ttyACM1

  4. Initialize talker -> rosrun week1tutorial talker.py

  5. Run the vrpn client: -> roslaunch vrpn_client_ros sample.launch server:=192.168.1.3

NOTE: The server's IP address might be different than 192.168.1.3. You can check this by typing ipconfig on the vicon server machine's command prompt.

ON THE VICON SERVER MACHINE

  1. Turn on vicon, run Vicon Tracker 3.4 app, and select "f1car" in the objects section.

DONE THROUGH SSH:

  1. SSH into the car. a) Make sure both the car and your personal machine is connected to the same router (ViconRouter). b) Run the following to get the ip address of the car -> ip route get 8.8.8.8 | awk '{print $NF; exit}' c) SSH using the -X server: -> ssh -X ubuntu@ip_address_from_step_6b

  2. Run STARL code In folder "newLib": -> ./run.sh

  3. Run controller on car -> rosrun week1tutorial waypoint.py

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