Running an OpenMower simulation - Revision history

Cutdact: Some spellchecking, updated launch file path, updated end path recording

2022-08-05T17:37:58Z

Some spellchecking, updated launch file path, updated end path recording

← Older revision		Revision as of 17:37, 5 August 2022
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	Open a terminal and execute		Open a terminal and execute

	<code>roslaunch ~/OpenMower/ROS/src/open_mower_ros/open_mower/launch/~~sim_record_area~~.launch</code>		<code>roslaunch ~/OpenMower/ROS/src/open_mower_ros/open_mower/launch/sim_mower_logic.launch</code>
	[[File:Simulation running.png\|thumb\|OpenMower simulation running]]		[[File:Simulation running.png\|thumb\|OpenMower simulation running]]
	This will launch rviz where you can see the Rover and the map.		This will launch rviz where you can see the Rover and the map.

	Use your joystick to record a map and a base. On my gamepad, the ~~btns~~ are		Use your joystick to record a map and a base. On my gamepad, the buttons are

	* 1 - enable movement		* 1 - enable movement
	* 2 - start path recording		* 2 - start path recording
	* 4 - end path recording		* 4 + ↓ - end path recording
	* 3 - register base		* 3 - register base

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	* Check which joysticks your Ubuntu installation knows: <code>ls -l /dev/input/js*</code>		* Check which joysticks your Ubuntu installation knows: <code>ls -l /dev/input/js*</code>
	* Try to add/adjust ~~wich~~ joystick the recorder uses in sim_record_area.launch to use the correct joystick, see illustration here.		* Try to add/adjust which joystick the recorder uses in sim_record_area.launch to use the correct joystick, see illustration here.

	===Buttons===		===Buttons===

CSobel: corrected launchfile name for running the simulation, added info about button modification

2022-06-04T22:36:18Z

corrected launchfile name for running the simulation, added info about button modification

← Older revision		Revision as of 22:36, 4 June 2022
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	=== Running the simulation ===		=== Running the simulation ===
	<code>roslaunch ~/OpenMower/ROS/src/open_mower_ros/open_mower/launch/~~sim_record_area~~.launch</code>		<code>roslaunch ~/OpenMower/ROS/src/open_mower_ros/open_mower/launch/sim_mower_logic.launch</code>

	This will launch rviz with the map and rqt_reconfigure where you can control various parameters of the simulation.		This will launch rviz with the map and rqt_reconfigure where you can control various parameters of the simulation.
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	* Try to add/adjust wich joystick the recorder uses in sim_record_area.launch to use the correct joystick, see illustration here.		* Try to add/adjust wich joystick the recorder uses in sim_record_area.launch to use the correct joystick, see illustration here.

	== ~~Additional notes~~ / ~~info~~ ==		===Buttons===
			The control buttons can be edited here:
			*movement activation button
			**File: <code>~/OpenMower/ROS/src/open_mower_ros/open_mower/launch/sim_record_area.launch</code>
			**Line 17: <code><param name="~enable_turbo_button" value="4"/></code>
			*area and base recording buttons
			**File: <code>~/OpenMower/ROS/src/open_mower_ros/mower_area_recorder/src/area_recorder.cpp</code>
			**Lines 61 ff.

	=== rviz and OpenMower on different machines ===		==Additional notes / info==

			===rviz and OpenMower on different machines ===
	This is all running on one platform - the OpenMower simulation AND the graphical interface, hence the choice of desktop to have a graphical environment. In the real situation, the Rover with the OpenMower software is running on a headless Pi. If you still want to have the ability to see paths and maps (which is possible) in rviz, you need to do that on a separate desktop environment. That is possible. You can use the environment that you set up here, but the Rover and on the Desktop must be on the same network and need a little setup in your <code>~/.bashrc</code> to see each other as being part of the same ROS installation.		This is all running on one platform - the OpenMower simulation AND the graphical interface, hence the choice of desktop to have a graphical environment. In the real situation, the Rover with the OpenMower software is running on a headless Pi. If you still want to have the ability to see paths and maps (which is possible) in rviz, you need to do that on a separate desktop environment. That is possible. You can use the environment that you set up here, but the Rover and on the Desktop must be on the same network and need a little setup in your <code>~/.bashrc</code> to see each other as being part of the same ROS installation.

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	<code>export ROS_MASTER_URI=<nowiki>http://192.168.1.126:11311</nowiki> # eplace with your ip for your Rover</code>		<code>export ROS_MASTER_URI=<nowiki>http://192.168.1.126:11311</nowiki> # eplace with your ip for your Rover</code>

	==== Note on network visibility and guests on VirtualBox ====		==== Note on network visibility and guests on VirtualBox====
	To make your Ubuntu installation running as guest in VirtualBox be able to have an externally accessible ip number and be able to talk to the Rover, you must		To make your Ubuntu installation running as guest in VirtualBox be able to have an externally accessible ip number and be able to talk to the Rover, you must

	# use a cabled network (not Wifi!!) to your computer that acts as host for VirtualBox and your Ubuntu guest OS		#use a cabled network (not Wifi!!) to your computer that acts as host for VirtualBox and your Ubuntu guest OS
	# use a <code>Bridged Adaptor</code> to the cabled interface for the network setup in VirtualBox for your Ubuntu host.		#use a <code>Bridged Adaptor</code> to the cabled interface for the network setup in VirtualBox for your Ubuntu host.

Tinker0436: /* Small fix to the OpenMower software for simulation to run */ Removed need for this after c.ez fixed it

2022-06-04T19:59:58Z

Small fix to the OpenMower software for simulation to run: Removed need for this after c.ez fixed it

← Older revision		Revision as of 19:59, 4 June 2022
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	In every terminal that you use: <code>source ~/OpenMower/ROS/devel/setup.sh</code>		In every terminal that you use: <code>source ~/OpenMower/ROS/devel/setup.sh</code>

	~~== Small fix to the OpenMower software for simulation to run ==~~
	~~[[File:Adjust software for simulation.png\|thumb\|Adjust software for simulation]]~~
	~~You need to make a small change to <code>~/OpenMower/ROS/src/open_mower_ros/mower_logic/src/mower_logic/mower_logic.cpp</code>. Change the line~~

	~~<code>if (gpsGood \|\| last_config.ignore_gps_errors) {</code>~~

	to

	~~<code>if (true) {</code>~~

	~~(it is ca. line 185, see illustration)~~

	~~Then recompile~~

	~~<code>cd ~/OpenMower/ROS</code>~~

	~~<code>catkin_make</code>~~

	== Running the simulation ==		== Running the simulation ==

Tinker0436: /* Diagnostics / debugging / issues */

2022-06-04T07:17:12Z

Diagnostics / debugging / issues

← Older revision		Revision as of 07:17, 4 June 2022
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	* Check which joysticks your Ubuntu installation knows: <code>ls -l /dev/input/js*</code>		* Check which joysticks your Ubuntu installation knows: <code>ls -l /dev/input/js*</code>
	* Try to add/adjust ~~wichh~~ joystick the recorder uses in sim_record_area.launch to use the correct joystick, see illustration ~~further down~~ here.		* Try to add/adjust wich joystick the recorder uses in sim_record_area.launch to use the correct joystick, see illustration here.

	== Additional notes / info ==		== Additional notes / info ==

Tinker0436: /* Recording a map */

2022-06-04T07:14:50Z

Recording a map

← Older revision		Revision as of 07:14, 4 June 2022
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	=== Recording a map ===		=== Recording a map ===
	[[File:VirtualBox enable USB.png\|thumb\|Enable USB ports on VirtualBox]]		[[File:VirtualBox enable USB.png\|thumb\|Enable USB ports on VirtualBox]]
	Attach your joystick to a USB port. If you are on a VirtualBox, make sure that the USB port is mapped into your Ubuntu environment (see illustration).		Attach your joystick to a USB port. If you are on a VirtualBox, make sure that the USB port of your joystick / gamepad is mapped into your Ubuntu environment (see illustration).

	Open a terminal and execute		Open a terminal and execute

Tinker0436: /* Prerequisites */

2022-06-04T07:12:41Z

Prerequisites

← Older revision		Revision as of 07:12, 4 June 2022
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	* '''Install ROS on Ubuntu''': http://wiki.ros.org/noetic/Installation/Ubuntu - use the full install		* '''Install ROS on Ubuntu''': http://wiki.ros.org/noetic/Installation/Ubuntu - use the full install
	** Note: make sure that you have ROS environment set up in your terminal by <code>echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc</code> and log out and back in.		** Note: make sure that you have the ROS environment set up in your terminal by <code>echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc</code> and log out and back in.
	* '''Install the OpenMower software:''' Use the instructions here: [[Setting up ROS on a Raspberry Pi (intended to be the Rover -- OpenMower)]]		* '''Install the OpenMower software:''' Use the instructions here: [[Setting up ROS on a Raspberry Pi (intended to be the Rover -- OpenMower)]]
	** Make sure that you have had <code>catkin_make</code> succeed (may take a few tries, often 4 or more)		** Make sure that you have had <code>catkin_make</code> succeed (may take a few tries, often 4 or more)

Tinker0436: /* Joystick */

2022-06-04T07:11:41Z

Joystick

← Older revision		Revision as of 07:11, 4 June 2022
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	* Check which joysticks your Ubuntu installation knows: <code>ls -l /dev/input/js*</code>		* Check which joysticks your Ubuntu installation knows: <code>ls -l /dev/input/js*</code>
	* Try to add/adjust wichh joystick the recorder uses in ~~sim_recorc_area~~.launch to use the correct joystick, see illustration further down here.		* Try to add/adjust wichh joystick the recorder uses in sim_record_area.launch to use the correct joystick, see illustration further down here.

	== Additional notes / info ==		== Additional notes / info ==

Tinker0436: /* Recording a map */

2022-06-04T07:09:24Z

Recording a map

← Older revision		Revision as of 07:09, 4 June 2022
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	<code>roslaunch ~/OpenMower/ROS/src/open_mower_ros/open_mower/launch/sim_record_area.launch</code>		<code>roslaunch ~/OpenMower/ROS/src/open_mower_ros/open_mower/launch/sim_record_area.launch</code>
			[[File:Simulation running.png\|thumb\|OpenMower simulation running]]
	This will launch rviz where you can see the Rover and the map.		This will launch rviz where you can see the Rover and the map.

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	=== Running the simulation ===		=== Running the simulation ===
	<code>roslaunch ~/OpenMower/ROS/src/open_mower_ros/open_mower/launch/sim_record_area.launch</code>		<code>roslaunch ~/OpenMower/ROS/src/open_mower_ros/open_mower/launch/sim_record_area.launch</code>
	~~[[File:Simulation running.png\|thumb\|OpenMower simulation running]]~~
	This will launch rviz with the map and rqt_reconfigure where you can control various parameters of the simulation.		This will launch rviz with the map and rqt_reconfigure where you can control various parameters of the simulation.

Tinker0436: /* Diagnostics / debugging / issues */

2022-06-04T07:08:16Z

Diagnostics / debugging / issues

← Older revision		Revision as of 07:08, 4 June 2022
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	* Check which joysticks your Ubuntu installation knows: <code>ls -l /dev/input/js*</code>		* Check which joysticks your Ubuntu installation knows: <code>ls -l /dev/input/js*</code>
	* Try to add/adjust wichh joystick the recorder uses in sim_recorc_area.launch to use the correct joystick, see illustration further down here ~~on the page~~.		* Try to add/adjust wichh joystick the recorder uses in sim_recorc_area.launch to use the correct joystick, see illustration further down here.

	== Additional notes / info ==		== Additional notes / info ==

Tinker0436: /* Additional notes / info */

2022-06-04T07:08:00Z

Additional notes / info

← Older revision		Revision as of 07:08, 4 June 2022
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	=== Joystick ===		=== Joystick ===
			[[File:Which joystick to use.png\|thumb\|Which joystick to use]]
	Your joystick needs to be transmitting messages on the topic /joy. To test that it does:		Your joystick needs to be transmitting messages on the topic /joy. To test that it does:

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	# use a cabled network (not Wifi!!) to your computer that acts as host for VirtualBox and your Ubuntu guest OS		# use a cabled network (not Wifi!!) to your computer that acts as host for VirtualBox and your Ubuntu guest OS
	# use a <code>Bridged Adaptor</code> to the cabled interface for the network setup in VirtualBox for your Ubuntu host.		# use a <code>Bridged Adaptor</code> to the cabled interface for the network setup in VirtualBox for your Ubuntu host.

	~~[[File:Which joystick to use.png\|thumb\|Which joystick to use]]~~