GitLab

Setup the project and run the ROS Connection

IMPORTANT This project was done with a rasperryPi 4 running ubuntu server 18 and ROS melodic on a 32GB sd card. This project may not work with other configurations.

RaspberryPi Setup

• download the raspberrypi image
• copy the image to an sd card
  • since it is compressed use this command
  • gunzip --stdout AGTECH.img.gz | sudo dd bs=4M of=/dev/SDCARD
  • where SDCARD represents the sd card label in the system
• the raspberrypi will automatically generate a WiFi network AGTECH
• the raspberry pi will also create a local ethernet connection
  • this should be used for connecting to the robot
• the raspberry pi can be connected to over ssh or plugged into a monitor
  • username: agtech
  • password: RobotLab
• plug in an Ethernet cable between the robot and the pi or configure the robot to connect to the AGTECH WiFi

Ubuntu 18 Desktop

• have a installation of Ubuntu 18
• install ROS Melodic
• setup a ROS workspace
  • use the ROS Tutorials
  • name the workspace Workspace
• clone this project into your workspace
  • cd Workspace/src/
  • mkdir agtech
  • git clone git@gitsvn-nt.oru.se:hkan/harvest-automation.git agtech

Connecting to the Harvest Automation Robots

• connect over shh
  • ssh agtech@10.42.0.1
  • password: RobotLab
• connect over wifi
  • connect your computer running a configured Ubuntu 18 installation (see Ubuntu 18 Desktop) to the same WiFi network as the robot
  • use the Harvest Automation instructions for configuring WiFi

Configuring the project

• update agtech code
  • cd Workspace/src/agtech
  • git pull
  • cd ~/Workspace
  • catkin_make

Running the project

• run ROS bridge
  • roslaunch hv_launch hv_bridge.launch
• run Demo & bridge
  • roslaunch hv_launch harvey.launch
• run Teleop & bridge
  • roslaunch hv_launch teleop.launch
  • NOTE: CTRL + C must be pressed twice to end this for some reason
• run ALL nodes
  • roslaunch hv_launch all.launch

All the nodes can also be launched with rosrun, however when running the hv_bridge use the -h input argument to get information about options.

• --hostname ROBOT_NAME is used to set the name of the robot to connect to. this is that name that is set on the hv robot.
• --all will set the connection to use all the connection classes with the robot
• --all-controllers will use all the controllers
• --controllers [#, ...] will use the specified controllers
• --all-sensors will use all sensors
• --sensors [#, ...] will use specified sensors
• --services will add all ros services, and --services [SERV...] will add specified services