GreenBot

This is the repository containing the ROS code for the GreenBot

Setup

Do catkin_make on the workspace to install the whole thing. This should create the build/ and devel/ folders.

Teleoperation (outdated)

To perform teleoperation on the GreenBot, perform the following steps:

0. Make sure that the command center (main PC) and the Udoo board (GreenBot computer) are in the same network and can talk to each other.

   • Figure out the IP addresses (ip a) of each computer and ping each other.
   • On GreenBot, do netcat -l <port e.g. 1234> and on the main PC, do netcat <greenbot ip address> <port>. This should allow both computers to send messages to each other.
   • Once the IP addresses of both computers, edit the ros_master_setup.sh and ros_node_setup.sh files and populate the appropriate IP addresses

1. Source the ros_master_setup file on the main pc and Start ROS Master (source config/ros_master_config.sh; roscore)

   • It will be good to do the following here: source devel/setup.bash

2. Source the ros_node_setup file on GreenBot

   • It will be good to do the following here: source devel/setup.bash

3. Start the teleop_twist_keyboard.py script on the main PC rosrun teleop_twist_keyboard teleop_twist_keyboard.py

4. Start the teleop_greenbot.py script on GreenBot rosrun teleop_greenbot teleop_greenbot.py

5. Mash some buttons!