where is the code on the starterkit computer ?

[JacquesRoubaud]

Hi I have received my starterkit last week. I am able to connect to the robot PC via vscode using an additional wifi key When I am in the home directory, I don't see the code that is used and launched by the robot. I could locate some code in opt/ezw, but if I make a small change in the index.html file in /opt/ezw/html, I don't see it reflected on the web page when I type 10.10.0.1 in Chrome. So the "real" code must be somewhere else ? where ? I would expect to see some code to compile with catkin_make, some urdf, some python code, ...

can you help ? thank you Jacques

[GMezWheel]

Hi @JacquesRoubaud , All the packages have been installed as debian packages :

• the ez-Wheel ROS1 packages are located to /opt/ros/noetic/...
• the index.html is in /var/www/html
• the ez-Wheel libraries are in /opt/ezw

If you want to modify ez-Wheel ROS packages, you have to :

• create a new ROS1 workspace in the home directory for example
• clone some ez-Wheel github packages into src directory
• compile with catkin_make

[JacquesRoubaud]

thank you for this, I am making some progress!

can you tell me what service I should kill and restart to update the webpage (help with the right commands is appreciated). I guess there is a better option than rebooting the computer every time :)

thanks!

[GMezWheel]

Hi,

There is no service to restart. You only have to force a refresh of your page into your broswer. ie : Ctrl+F5 into Chrome

[JacquesRoubaud]

I still have some difficulties to find everything. For instance, where is the code / node that publishes the laser data ? where is the SWD code that is actually run on the robot, eg the code for differential drive.

[GMezWheel]

All the ros nodes are into /opt/ros/noetic/share. ie : /opt/ros/noetic/share/swd_ros_controllers

For IDEC laser, the laser data are published by urg_node.

[JacquesRoubaud]

thank you!