A faire mardi matin

Pour résoudre le problème de noms identiques sur les Live USB de manière définitive, voici la procédure à faire, sur les clés USB Live uniquement :

1. nano ~/.bashrc
2. Descendre tout en bas
3. Repérer la ligne qui exporte ROS_HOSTNAME et la supprimer définitivement
4. Ajouter à la place cette ligne :

export ROS_IP=`ip address|grep inet|grep dynamic|tr ' ' ':'|cut -d':' -f6|cut -d'/' -f1|head -n1`

5. Enregistrer avec Ctrl+X
6. Fermer et rouvrir les terminaux (ce qui déclencher un rechargement du fichier .bashrc)

Workshop ROS4PRO

🇫🇷 Ce dépôt contient les réponses (le code) du challenge d'intégration Turtlebot + Sawyer du workshop ROS4PRO

🇬🇧 This package hosts answers (code) of the Turtlebot + Sawyer integration challenge of the ROS4PRO workshop

1. System dependencies

The following command lines will install system-wide dependencies. This is intended to run in Python 2 since this is still the default for ROS Melodic.

sudo apt install ros-melodic-moveit ros-melodic-realtime-tools ros-melodic-ros-control ros-melodic-ros-controllers ros-melodic-urdf-geometry-parser ros-melodic-gazebo-ros-pkgs ros-melodic-control-toolbox ros-melodic-gazebo-ros-control ros-melodic-turtlebot3-msgs ros-melodic-gmapping ros-melodic-move-base ros-melodic-amcl ros-melodic-map-server ros-melodic-dwa-local-planner python-wstool git tree python-pip

pip install tensorflow keras imageio matplotlib scikit-image numpy

2. Git dependencies

The following command lines will download git repositories into your ROS workspace.

cd ~/catkin_ws/src
git clone https://github.com/ros4pro/ros4pro.git
wstool init
wstool merge ros4pro/.rosinstall
wstool update

3. Build

As a reflex, build and source your workspace after installing new packages.

cd ~/catkin_ws
catkin_make
source ~/catkin_ws/devel/setup.bash

4. Train the neural network

rosrun ros4pro learn.py

5. Create the map

TODO: gmapper and teleop

6. Serve the map and navigate with RViz

TODO

7A. Run manipulation and navigation nodes in light simulation

For faster runs, Sawyer is not simulated through Gazebo but with fake motor controllers in RViz. The following commands in 2 different terminals will run the background services for manipulation and navigation and also run the manipulate.py and navigate.py scenarii.

roslaunch ros4pro manipulate.launch
roslaunch ros4pro navigate.launch

7B. Run on an actual Sawyer robot

For faster runs, Sawyer is not simulated through Gazebo but with fake motor controllers in RViz.

roslaunch ros4pro manipulate.launch simulation:=False

8. Troubleshooting

Time syncing:

sudo ntpdate -s ntp.ubuntu.com

Pip install on Live sticks:

TMPDIR=/media/ubuntu/usbdata/ sudo -E pip install --cache-dir=/media/ubuntu/usbdata/ --build /media/ubuntu/usbdata/ scikit-image torch matplotlib tqdm torchvision visdom imageio