setup

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Setup the project and run the ROS Connection

download the raspberrypi image
flash a sd with the downloaded image
the raspberrypi will automatically generate a WiFi network AGTECH
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

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

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

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

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