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Run_With_EV3.md

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Run With EV3

Setup

  1. Clone the rosev3
$ cd ~/
$ git clone https://github.com/YI-LING-BA-JI-JHUAN-TI-SHENG/rosev3.git
  1. Set the ROS master URI
$ vim ~/rosev3/gripp3r/.env
  • Input string as following example.
  • Please replace xxx with your static ip and port.
MASTER_URI=http://xxx.xxx.xxx.xxx:xxx

Network Architecture

  • eth0: Local Area Network, connect to the AP with a cable.
  • eth1: Static IP, connect to the router with a cable.

Execution Progress

  1. Run roscore (terminal 1)
$ roscore
  1. Connect to ev3 robot (terminal 2)
$ ssh root@192.168.1.101
  1. Open ev3 manager (terminal 2)
$ ev3_manager
  1. Run docker (terminal 3)
$ cd ~/rosev3/gripp3r/
$ sudo sh rosini.sh
  1. Wait connection
  • Wait terminal 2 to finished running launch file
  1. Open simulation and control environment
  • (a) Use gazebo to open a world (terminal 4)
$ roslaunch robot_simulation_pkg simulation.launch
  • (b) Navigation (terminal 5)
$ roslaunch robot_navigation_pkg multi_navigation.launch
  • (c) Open central control node (terminal 6)
$ roslaunch central_control_pkg multi_control.launch
  • (d) Run converter (terminal 7)
$ roslaunch robot_converter_pkg vel_converter.launch
  • (e) Publish a test instruction (terminal 8)
$ rostopic pub /speaker std_msgs/String 3:a
  1. Close docker (terminal 3)
$ cd ~/rosev3/gripp3r/
$ sudo sh down.sh