The tasks will be assessed at the end of the semester but can be assessed sooner if the team wishes so.
To get the seminar credit, student must:
ssh {username}@turtle.felk.cvut.cz
. On these systems, your personal NFS folder will be mounted as $HOME
. Before you can log remotely, you need to set a password through this page.
singularity shell /opt/singularity/robolab/melodic ros
.
source /opt/ros/mkr/setup.bash
.
export ROS_WORKSPACE=$HOME/ros_mkr_ws && mkdir -p $ROS_WORKSPACE/src && cd $ROS_WORKSPACE && catkin init && catkin build
.
cd $ROS_WORKSPACE/src && git clone https://gitlab.ciirc.cvut.cz/imr/mkr/ros_skeletons.git && catkin build
To use the turtlebots:
e210bot
.
ssh usermap_username@192.168.210.(20+turtlebot_number)
.
singularity instance start /opt/singularity/robolab/melodic ros
.
tmux
.
singularity shell instance://ros
then source $ROS_WORKSPACE/devel/setup.bash
.
roscore
. roslaunch
itself would run roscore
if no ROS master is detected but this master will be killed when the roslaunch
command finishes (usually with Ctrl+C
) and nodes such as rqt or rviz would have to be closed as well. It is then better to run roscore
separately.
roslaunch robolab_bringup turtlebot2.launch camera:=false
.
singularity instance start /opt/singularity/robolab/melodic ros
.
singularity shell instance://ros
then source $ROS_WORKSPACE/devel/setup.bash
.
Simulator flatland
roslaunch simulator_e130 two_turtlebots_in_flatland.launch
. For the multi-robot planning task, you can also launch roslaunch multi_robot_planner two_turtlebots_in_flatland.launch
, which also launches the planning node (multi_robot_planner
) and the nodes that execute the trajectories (/turtle0/coordinator
and /turtle1/coordinator
).
Simulator stdr
roslaunch simulator_e130 simulator.launch
. To be on the safe side, it's better to launch the simulation server and possibly the GUI first (roslaunch simulator_e130 server.launch
, roslaunch simulator_e130 gui.launch
) and then the robots (roslaunch simulator_e130 robots.launch
). This avoid missing robots, especially with more than two robots.
robot_coordination/robot_node
can be used to drive the robot, it basically accepts a trajectory as input through services and drives the robot along the trajectory. Launch one robot_coordination/robot_node
for each robot: e.g. ROS_NAMESPACE=/robot1 rosrun robot_coordination robot_node __name:=controller
.
robot_coordination/example_robot_control.py
, and can be launched e.g. with rosrun robot_coordination example_robot_control.py _server_namespace:=/robot0
.
- ssh {usermap_username}@turtle.felk.cvut.cz
. On this system, your personal NFS folder will be mounted as $HOME
. Before you can log remotely, you need to set a password through this page.
- alternatively, you can remotely start one of the lab's computer and log to it.
ssh student@turtle.felk.cvut.cz
(ask for password if you forgot it) and follow the instructions
ssh {usermap_username}@turtle.felk.cvut.cz
ssh {usermap_username}@desktop01
if you started desktop01
.
poweroff
when you are done.
You can also load a remote desktop to use graphical applications. Only physical computers can be used for this. More information on this page:
- ssh student@turtle.felk.cvut.cz
and follow the instructions.
- tmux
if you want to be able to open further text shells
- remote-desktop start xpra
, note the actual used display (e.g. ':1')
- On your PC, start Xpra. Choose the method SSH→SSH
(not available on Xpra version 2), username: usermap's username, proxy: turtle.felk.cvut.cz
, hostname: desktop-01
or the one where you called remote-desktop
.
Back to the course page.