Running The Code

The following sections will provide information on running the code once it has been installed correctly.

Launching Ros across Multiple Computers

Login Raspberry Pi

ssh ubuntu@192.168.1.XXX

Password is found on the Default Credentials Page

Start the Raspberry Pi Code

After the Raspberry PI has logged in run the following commands

cd ~/MercerSubProject
export ROS_IP=192.168.1.XXX
export ROS_MASTER_URI="http://192.168.1.XXX:11311"
roslaunch sub_message normal_start.launch

Sending Commands to the Pi

On the command computer open a terminal and type

cd ~/MercerSubProject
export ROS_IP=192.168.1.XXX
export ROS_MASTER_URI="http://192.168.1.XXX:11311"
source tests/simpleMotorTestPause.sh

Launching RQT Graph

Open an new console ensure the ROS_IP and ROS_MASTER_URI

rosrun rqt_graph rqt_graph

Here is an example RQT Graph.

Individually Launching ROS Nodes

Use the Rosrun Command:
Talker Node

rosrun sub_message talker.py movt .2 .2 .2 5
rosrun sub_message talker.py rottt -.2 -.2 -.2 5
rosrun sub_message talker.py pause 5
rosrun sub_message talker.py next
rosrun sub_message talker.py clear

Listen Node

rosrun sub_message listener.py  

Commander

rosrun sub_message commander.py  

Rosserial

rosrun rosserial_python serial_node.py /dev/ttyACM0

Note: ROS Nodes must run on individual console instances. Note 2: (Control) + (C) terminates the Node.

Listening to ROS Topics

You can see messages moving through the system by using the rostopic command: rostopic list - Returns a list of the current topics

/arduino_move
/commander
/rosout
/rosout_agg
rostopic echo /arduino_move
xLeft: 0
xRight: 0
yFront: 0
yBack: 0
zTop: 0
zBottom: 0