Difference between revisions of "HamsterServer"

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[[Category:HamsterV5]]
 
[[Category:HamsterV5]]
 
[[Category:HamsterV4]]
 
[[Category:HamsterV4]]
 +
[[Category:HamsterV7]]
 
[[Category:Hamster]]
 
[[Category:Hamster]]
  
 
Few steps for hamster server install:
 
Few steps for hamster server install:
  
−
==<strong>Single-master configuration:</strong>==
+
==<strong>Single-master configuration (deprecated from January 2018):</strong>==
  
−
https://wiki.cogni.io/index.php/HamsterROSWorkingEnvironment
+
===Bashrc configuration===
 +
 
 +
Before all actions need to pre-configure local machine.Copy to <strong>.bashrc</strong> file:
 +
 
 +
<syntaxhighlight lang="bash">
 +
export ROS_MASTER_URI=http://10.0.2.152:11311
 +
export ROS_IP=10.0.2.152
 +
</syntaxhighlight>
 +
 
 +
Local machine should be configured to static IP 10.0.2.152
  
−
==<strong>Multi-master configuration</strong>==
+
Run <code>source .bashrc</code> from terminal
 +
 
 +
===Hamster workspace and launch configuration===
 +
 
 +
1. Create hamster workspace:
 +
 
 +
<code><span style="color:brown">daria@daria:</span>~$ mkdir -p hamster_ws/src</code>
 +
 
 +
2. Download hamster_server:
 +
 
 +
<code><span style="color:brown">daria@daria:</span>~$ cd hamster_ws/src</code>
 +
 
 +
<strong>For Ubuntu 14.04 (ros indigo):</strong>
 +
 
 +
<code><span style="color:brown">daria@daria:</span>~/hamster_ws/src$ git clone -b indigo-devel https://github.com/cogniteam/hamster_server.git</code>
 +
 
 +
<strong>For Ubuntu 16.04 (ros kinetic):</strong>
 +
 
 +
<code><span style="color:brown">daria@daria:</span>~/hamster_ws/src$ git clone -b kinetic-devel https://github.com/cogniteam/hamster_server.git</code>
 +
 
 +
<strong>For Ubuntu 18.04 (ros melodic):</strong>
 +
 
 +
<code><span style="color:brown">daria@daria:</span>~/hamster_ws/src$ git clone -b melodic-devel https://github.com/cogniteam/hamster_server.git</code>
 +
 
 +
3. Source workspace:
 +
 
 +
<strong>inside hamser_ws folder:</strong>
 +
 
 +
<code><span style="color:brown">daria@daria:</span>~/hamster_ws$ source /opt/ros/kinetic/setup.bash</code>
 +
 
 +
ROS dependencies update:
 +
 
 +
<code><span style="color:brown">daria@daria:</span>~/hamster_ws$ rosdep install --from-paths src --ignore-src -y -r</code>
 +
 
 +
<code><span style="color:brown">daria@daria:</span>~/hamster_ws$ catkin_make -j2 -DCMAKE_BUILD_TYPE=Release</code>
 +
 
 +
To .bashrc file add:
 +
 
 +
<code> source ~/hamster_ws/devel/setup.bash</code>
 +
 
 +
and execute <code>source .bashrc</code> from terminal
 +
 
 +
4. Launch multimaster server:
 +
 
 +
<code><span style="color:brown">daria@daria:</span>~/hamster_ws$ roslaunch hamster_server_launch server.launch</code>
 +
 
 +
==<strong>Multi-master configuration (in use from 2018)</strong>==
  
 
===Bashrc configuration===
 
===Bashrc configuration===
Line 22: Line 78:
 
YOUR_IP - local machine IP (<code>ifconfig</code> in teminal).
 
YOUR_IP - local machine IP (<code>ifconfig</code> in teminal).
  
−
Should be static IP.
+
Should be static IP in 10.0.2.* subnet.
  
 
Run <code>source .bashrc</code> from terminal
 
Run <code>source .bashrc</code> from terminal
Line 38: Line 94:
 
<strong>For Ubuntu 14.04 (ros indigo):</strong>
 
<strong>For Ubuntu 14.04 (ros indigo):</strong>
  
−
<code><span style="color:brown">daria@daria:</span>~/hamster_ws/src$ git clone -b master https://github.com/cogniteam/hamster_server.git</code>
+
<code><span style="color:brown">daria@daria:</span>~/hamster_ws/src$ git clone -b indigo-devel https://github.com/cogniteam/hamster_server.git</code>
  
 
<strong>For Ubuntu 16.04 (ros kinetic):</strong>
 
<strong>For Ubuntu 16.04 (ros kinetic):</strong>
  
 
<code><span style="color:brown">daria@daria:</span>~/hamster_ws/src$ git clone -b kinetic-devel https://github.com/cogniteam/hamster_server.git</code>
 
<code><span style="color:brown">daria@daria:</span>~/hamster_ws/src$ git clone -b kinetic-devel https://github.com/cogniteam/hamster_server.git</code>
 +
 +
<strong>For Ubuntu 18.04 (ros melodic):</strong>
 +
 +
<code><span style="color:brown">daria@daria:</span>~/hamster_ws/src$ git clone -b melodic-devel https://github.com/cogniteam/hamster_server.git</code>
  
 
3. Source workspace:
 
3. Source workspace:
Line 49: Line 109:
  
 
<code><span style="color:brown">daria@daria:</span>~/hamster_ws$ source /opt/ros/kinetic/setup.bash</code>
 
<code><span style="color:brown">daria@daria:</span>~/hamster_ws$ source /opt/ros/kinetic/setup.bash</code>
 +
 +
ROS dependencies update:
 +
 +
<code><span style="color:brown">daria@daria:</span>~/hamster_ws$ rosdep install --from-paths src --ignore-src -y -r</code>
  
 
<code><span style="color:brown">daria@daria:</span>~/hamster_ws$ catkin_make -j2 -DCMAKE_BUILD_TYPE=Release</code>
 
<code><span style="color:brown">daria@daria:</span>~/hamster_ws$ catkin_make -j2 -DCMAKE_BUILD_TYPE=Release</code>
−
 
−
(in case compilation mistake you may need update ros dependencies <code>ropsdep update</code>)
 
  
 
To .bashrc file add:
 
To .bashrc file add:
Line 63: Line 125:
  
 
<code><span style="color:brown">daria@daria:</span>~/hamster_ws$ roslaunch hamster_server_launch multimaster.launch</code>
 
<code><span style="color:brown">daria@daria:</span>~/hamster_ws$ roslaunch hamster_server_launch multimaster.launch</code>
−
 
−
===<strong>Notes</strong>===
 
−
 
−
Rqt UI requires Linux Ubuntu 14.04 (Trusty)
 
−
 
−
Server launch reqiures 2 ros nodes install:
 
−
 
−
<code><span style="color:brown">daria@daria:</span>~$ sudo apt-get install ros-<distro>-master-discovery-fkie ros-<distro>-master-sync-fkie</code>
 
−
 
−
<distro> - your ROS version (kinetic, indigo etc..)
 

Latest revision as of 12:08, 19 September 2019


Few steps for hamster server install:

Single-master configuration (deprecated from January 2018):

Bashrc configuration

Before all actions need to pre-configure local machine.Copy to .bashrc file:

<syntaxhighlight lang="bash"> export ROS_MASTER_URI=http://10.0.2.152:11311 export ROS_IP=10.0.2.152 </syntaxhighlight>

Local machine should be configured to static IP 10.0.2.152

Run source .bashrc from terminal

Hamster workspace and launch configuration

1. Create hamster workspace:

daria@daria:~$ mkdir -p hamster_ws/src

2. Download hamster_server:

daria@daria:~$ cd hamster_ws/src

For Ubuntu 14.04 (ros indigo):

daria@daria:~/hamster_ws/src$ git clone -b indigo-devel https://github.com/cogniteam/hamster_server.git

For Ubuntu 16.04 (ros kinetic):

daria@daria:~/hamster_ws/src$ git clone -b kinetic-devel https://github.com/cogniteam/hamster_server.git

For Ubuntu 18.04 (ros melodic):

daria@daria:~/hamster_ws/src$ git clone -b melodic-devel https://github.com/cogniteam/hamster_server.git

3. Source workspace:

inside hamser_ws folder:

daria@daria:~/hamster_ws$ source /opt/ros/kinetic/setup.bash

ROS dependencies update:

daria@daria:~/hamster_ws$ rosdep install --from-paths src --ignore-src -y -r

daria@daria:~/hamster_ws$ catkin_make -j2 -DCMAKE_BUILD_TYPE=Release

To .bashrc file add:

source ~/hamster_ws/devel/setup.bash

and execute source .bashrc from terminal

4. Launch multimaster server:

daria@daria:~/hamster_ws$ roslaunch hamster_server_launch server.launch

Multi-master configuration (in use from 2018)

Bashrc configuration

Before all actions need to pre-configure local machine.Copy to .bashrc file:

<syntaxhighlight lang="bash"> export ROS_MASTER_URI=http://YOUR_IP:11311 export ROS_IP=YOUR_IP </syntaxhighlight>

YOUR_IP - local machine IP (ifconfig in teminal).

Should be static IP in 10.0.2.* subnet.

Run source .bashrc from terminal

Hamster workspace and launch configuration

1. Create hamster workspace:

daria@daria:~$ mkdir -p hamster_ws/src

2. Download hamster_server:

daria@daria:~$ cd hamster_ws/src

For Ubuntu 14.04 (ros indigo):

daria@daria:~/hamster_ws/src$ git clone -b indigo-devel https://github.com/cogniteam/hamster_server.git

For Ubuntu 16.04 (ros kinetic):

daria@daria:~/hamster_ws/src$ git clone -b kinetic-devel https://github.com/cogniteam/hamster_server.git

For Ubuntu 18.04 (ros melodic):

daria@daria:~/hamster_ws/src$ git clone -b melodic-devel https://github.com/cogniteam/hamster_server.git

3. Source workspace:

inside hamser_ws folder:

daria@daria:~/hamster_ws$ source /opt/ros/kinetic/setup.bash

ROS dependencies update:

daria@daria:~/hamster_ws$ rosdep install --from-paths src --ignore-src -y -r

daria@daria:~/hamster_ws$ catkin_make -j2 -DCMAKE_BUILD_TYPE=Release

To .bashrc file add:

source ~/hamster_ws/devel/setup.bash

and execute source .bashrc from terminal

4. Launch multimaster server:

daria@daria:~/hamster_ws$ roslaunch hamster_server_launch multimaster.launch

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