- cd to
ors-git-repo/shell_scripts
- connect to bat with
./connect_to_fitpc.sh
- use
roslaunch ors_2015_pkg auto_code.launch
- actually maybe
screen -dmSL cheesecake roslaunch ors_2015_pkg auto_code.launch
to keep the code from stopping if we lose connection - use this for either auto or rc things (it runs the most up to date code)
- actually maybe
- for simulator:
roslaunch ors_2015_pkg simulator_auto.launch
- cd to
ors-git-repo/fit_pc_pkg/scritps/html-gui
- alternately, from anywhere
roscd ors_2015_pkg/scripts/html-gui
- alternately, from anywhere
- use a web browser to open
index.html
- (in my case
chromium-web-browser index.html
)
- (in my case
- there is a prompt, the default number is correct for connecting to the boat
- for running simulator, change that to
localhost
- for running simulator, change that to
- `rostopic pub /operating_mode std_msgs/Int16 "data: #"
- or go to
ors-git-repo/shell_scripts
and runsh op_mode.sh #
- key:
- 0: testing
- 1: RC
- 2: auto
- 3: semi-auto (autonomous sails, rc rudder)
- 4: station keep
- key:
- use this command:
rostopic pub /raw_waypoints geometry_msgs/Pose2D "x: lat
y: lon
theta: 1"
- ps. use tab-complete
- alternately, go to
ors-git-repo/shell_scripts
and runmake_gps_wp.sh lat lon
- use this command:
rostopic pub /local_waypoints geometry_msgs/Pose2D "x: east
y: north
theta: 1"
- ps. use tab-complete
- alternately, go to
ors-git-repo/shell_scripts
and runmake_local_wp.sh east north
- boolean publishers follow the format
rostopic pub <topic> std_msgs/Bool "data: <true/flase>"
- publish
true
to/clear_waypoints
to clear waypoints - publish
true
to/rm_waypoint
to remove the most recently added waypoint - publish
true
to/skip_waypoint
to skip the next waypoint set for the boat