HamsterROSWorkingEnvironment - Revision history

Cogniteam at 12:02, 28 February 2017

2017-02-28T12:02:17Z

Cogniteam at 12:00, 28 February 2017

2017-02-28T12:00:40Z

Cogniteam: Created page with "Category:HamsterROS === Hamster ROS Working Environment === == Installing and configuring ROS on a Linux desktop == ROS uses a master server node in order to connect bet..."

2017-02-28T11:58:50Z

Created page with "Category:HamsterROS === Hamster ROS Working Environment === == Installing and configuring ROS on a Linux desktop == ROS uses a master server node in order to connect bet..."

New page

[[Category:HamsterROS]]
=== Hamster ROS Working Environment ===
== Installing and configuring ROS on a Linux desktop ==

ROS uses a master server node in order to connect between different ROS node programs.
In order to install ROS on a Linux (Ubuntu) machine follow these links
* http://wiki.ros.org/indigo/Installation/Ubuntu

Once ROS is installed, you will need to configure your system, follow the tutorials.
* http://wiki.ros.org/roscore
* http://wiki.ros.org/ROS/Tutorials

== Installing and configuring Hamster software on a Linux desktop ==

From the terminal run the following to update required libraries
sudo apt-get install ros-indigo-map-server

Download the code and compile it
cd ~/
mkdir hamster_ws/src -p
cd hamster_ws/src
git clone https://github.com/cogniteam/hamster_server.git
cd ..
catkin_make
source devel/setup.bash

Add the following line in ~/.bashrc
source ~/hamster_ws/devel/setup.bash
Running the Hamster software on the Linux desktop

Configure the server's IP to be 10.0.2.152 .
Set the environmental parameters – ROS_MASTER_URI and ROS_IP, using the following commands:
export ROS_MASTER_URI=http://10.0.2.152:11311
export ROS_IP=10.0.2.152

To launch the server's node, run the following command:
roslaunch hamster_server_launch server.launch

This command will start rviz (as seen below on the left) and Cogniteam’s OCU (as seen below on the right). The two hamsters should start streaming information to the OCU.

== Configuring Hamster Map ==

The Hamster robot arrives with a localization node based on amcl. This node uses a bitmap map to localize. To set the working map, go to the maps folder in the hamster_server_launch package, using:
roscd hamster_server_launch/maps

Copy the map image to that folder.
Also, edit the launch file to work with the new map: cd to the hamster_server_launch/launch directory, and edit server.launch . Change the field of map_server, enter the wanted yaml file path. (e.g.: $(find hamster_server_launch/maps/cogniteam.yaml) )

== Configuring Hamster Location on the map ==

To set position for an agent, use Rviz's 2D Pose Estimation, which is located on the top bar.

Afterwards, click on the map in the desired position, drag to set heading and release when needed.

To set position for agent N, change to the appropriate topic using:
Tool properties → Pose estimation → Topic : /agentN/initialpose

@@ Line 19: / Line 19: @@
 Download the code and compile it
 cd ~/
 mkdir hamster_ws/src -p
@@ Line 26: / Line 27: @@
 catkin_make
 source devel/setup.bash
+  </syntaxhighlight >
 Add the following line in ~/.bashrc
 source ~/hamster_ws/devel/setup.bash
 Running the Hamster software on the Linux desktop
 Configure the server's IP to be  10.0.2.152 .
 Set the environmental parameters – ROS_MASTER_URI and ROS_IP, using the following commands:
 export ROS_MASTER_URI=http://10.0.2.152:11311
 export ROS_IP=10.0.2.152
+</syntaxhighlight >
 To launch the server's node, run the following command:
 roslaunch hamster_server_launch server.launch
 This command will start rviz (as seen below on the left) and Cogniteam’s OCU (as seen below on the right).  The two hamsters should start streaming information to the OCU.

@@ Line 1: / Line 1: @@
 [[Category:HamsterROS]]
 === Hamster ROS Working Environment ===
 == Installing and configuring ROS on a Linux desktop ==