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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.
ssh {username}@turtle.felk.cvut.cz
$HOME
singularity shell /opt/singularity/robolab/noetic
mkdir $HOME/mkr_ws && cd $HOME/mkr_ws
export ROS_WORKSPACE="$(pwd)" && mkdir src && source /opt/ros/mkr/setup.bash && catkin init && catkin build
cd "$ROS_WORKSPACE/src" && git clone https://gitlab.ciirc.cvut.cz/imr/mkr/ros_skeletons.git && catkin build
To use the turtlebots:
e210bot
ssh {usermap_username}@192.168.210.{20+turtlebot_number}
export ROS_IP=$(echo -n $(hostname))
tmux
source $ROS_WORKSPACE/devel/setup.bash
roscore
roslaunch
Ctrl+C
export HOSTNAME && roslaunch robolab_bringup turtlebot2.launch camera:=false
multi_robot_planner/launch/two_turtlebots_in_flatland.launch
multi_robot_planner/planner
rosrun rviz rviz -d "$(rospack find simulator_e130)/rviz/two_turtlebots_in_flatland.rviz"
The simulator used is Flatland. The graphical interface to Flatland is RViz.
roslaunch simulator_e130 two_turtlebots_in_flatland.launch
roslaunch multi_robot_planner two_turtlebots_in_flatland.launch
multi_robot_planner
/turtle0/coordinator
/turtle1/coordinator
- 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 {usermap_username}@turtle.felk.cvut.cz
ssh student@turtle.felk.cvut.cz
ssh {usermap_username}@desktop01
desktop01
poweroff
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.
remote-desktop start xpra
SSH→SSH
turtle.felk.cvut.cz
desktop-01
remote-desktop
Back to the course page.