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Last edited by Nicholas Shindler
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setup

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 systemrobot
  • 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
  • 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
  • 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