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MIRTE_START.md

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Starting up Mirte Master

Mirte id:

mirte-87efdb

Setup your own laptop

Do this in your own terminal:

export ROS_IP=192.168.224.YOUR_IP
export ROS_MASTER_URI=http://192.168.224.39:11311

Steven's terminal:

export ROS_IP=192.168.224.161
export ROS_MASTER_URI=http://192.168.224.39:11311

Alex's terminal:

export ROS_IP=192.168.224.144
export ROS_MASTER_URI=http://192.168.224.39:11311

Connect to Mirte terminal

Connect to Mirte

ssh [email protected]

Optional:

ssh-copy-id [email protected]

Setup Mirte (Once)

Do these commands on Mirte ssh

sudo service mirte-ros stop
export ROS_IP=192.168.224.39
roslaunch mirte_bringup minimal_master.launch

Shutting down Mirte

sudo shutdown now

Now you can switch off the robot physically.

Essentials commands

sudo service mirte-ros start
sudo service mirte-ros stop
sudo service mirte-ros restart

camera_reading: topic: /camera/color/image_raw

laptop test: /webcam/image_raw

rostopics: /arm/joint_states /arm/position_trajectory_controller/command /arm/position_trajectory_controller/follow_joint_trajectory/cancel /arm/position_trajectory_controller/follow_joint_trajectory/feedback /arm/position_trajectory_controller/follow_joint_trajectory/goal /arm/position_trajectory_controller/follow_joint_trajectory/result /arm/position_trajectory_controller/follow_joint_trajectory/status /arm/position_trajectory_controller/state /camera/color/camera_info /camera/color/image_raw /camera/depth/camera_info /camera/depth/image_raw /camera/depth/points /camera/ir/camera_info /camera/ir/image_raw /mirte/distance/left_front /mirte/distance/left_rear /mirte/distance/right_front /mirte/distance/right_rear /mirte/encoder/left_front /mirte/encoder/left_rear /mirte/encoder/right_front /mirte/encoder/right_rear /mirte/encoder_speed/left_front /mirte/encoder_speed/left_rear /mirte/encoder_speed/right_front /mirte/encoder_speed/right_rear /mirte/left_front /mirte/left_rear /mirte/motor_left_front_speed /mirte/motor_left_rear_speed /mirte/motor_right_front_speed /mirte/motor_right_rear_speed /mirte/movement/imu /mirte/power/power_watcher /mirte/power/power_watcher/used /mirte/right_front /mirte/right_rear /mirte/servos/servoElbow/position /mirte/servos/servoGripper/position /mirte/servos/servoRot/position /mirte/servos/servoShoulder/position /mirte/servos/servoWrist/position /mobile_base_controller/cmd_vel /mobile_base_controller/odom /rosout /rosout_agg /scan /tf /tf_static /webcam/camera_info /webcam/image_raw /webcam/image_raw/compressed /webcam/image_raw/compressed/parameter_descriptions /webcam/image_raw/compressed/parameter_updates /webcam/image_raw/compressedDepth /webcam/image_raw/compressedDepth/parameter_descriptions /webcam/image_raw/compressedDepth/parameter_updates /webcam/image_raw/theora /webcam/image_raw/theora/parameter_descriptions /webcam/image_raw/theora/parameter_updates