pestefo

header: 
  seq: 4701
  stamp: 
    secs: 1415783655
    nsecs: 723046000
  frame_id: /map
pose: 
  position: 
    x: 0.000903615108368
    y: 0.000480354084245

pestefo

---
header: 
  seq: 22789
  stamp: 
    secs: 1415783691
    nsecs: 750999000
  frame_id: /odom
child_frame_id: /base_link
pose: 
  pose: 

pestefo

---
header: 
  seq: 3470
  stamp: 
    secs: 1415783617
    nsecs: 873047000
  frame_id: /laser
angle_min: -2.36492109299
angle_max: 2.34746789932
angle_increment: 0.0174532923847

pestefo

(var stop := [0])
(var robulab := [LrpharosPackage uniqueInstance])
(var minDistance := [0.5])
(var f_vel := [0.25])
(var t_vel := [0.5])

(machine SimpleAvoid2
	(state forward
		(onentry [robulab value forward: f_vel value])
	)

pestefo

PhaROSPacket>>dump
    | anEncoder stream |

    type check: value.

    stream := WriteStream on: (ByteArray new: (type dataTypeSizeFor: value ) + 4). "<<<<<"
    anEncoder  := PhaROSEncoder on: stream.
    self encodePacketSize: (type dataTypeSizeFor: value) into: anEncoder.    
    
    type serialize: value into: anEncoder.

pestefo

#Robulab started to learn LRP

The objective of this tutorial is to be able to create a behaviour for Robulab described using Live Robot Programming.

VIDEO PENDING

#Steps

1. Follow the instructions to have Robulab working specified in this tutorial.

pestefo

<launch >
    <node name="smoother_by_pass" type="relay" args=" /raw_command_velocity /command_velocity " pkg="topic_tools" respawn="true" />
    <node name="pose_relay" type="relay" args=" /kompai2/pose /pose " pkg="topic_tools" respawn="true" />
    <node name="scan_relay" type="relay" args=" /kompai/scan /scan " pkg="topic_tools" respawn="true" />
    <node name="tf_out_relay" type="relay" args=" /pharos/out/tf /tf " pkg="topic_tools" respawn="true" />
    <node name="tf_in_relay" type="relay" args=" /tf /pharos/in/tf " pkg="topic_tools" respawn="true" />
	<node name="base_links_to_laser" type="static_transform_publisher" args=" 0 0 0  0 0 0 /base_link /laser 100" pkg="tf" respawn="true" />
	<node name="odom_to_base_links" type="static_transform_publisher" args=" 0 0 0  0 0 0 /odom /base_link 100" pkg="tf" respawn="true" />
</launch>

pestefo

CairePackage>>scriptExplorationMaster

    process:= PhaROSSystemLauncher  instance launch: [: spec | 
        spec gmapping.
        spec moveBase.
        spec exploreNode.
        spec rviz.
    ].

pestefo

roslaunch -v /tmp/generated-launch2.launch... logging to /home/turtlebot/.ros/log/b070455c-2a28-11e4-9567-2880230463ef/roslaunch-achao-29079.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

... loading XML file [/opt/ros/indigo/etc/ros/roscore.xml]
... executing command param [rosversion roslaunch]
Added parameter [/rosversion]
... executing command param [rosversion -d]
Added parameter [/rosdistro]

pestefo

#Testing Robulab

In this tutorial we will make basic tests to assert that both the robulab robot and the laptop are configured correctly. We will consider as well configured if we can start a PhaROS node that handle robulab robot, so we can publish motion messages through rostopic pub command and make it to move.

Pre-conditions

1. Robulab charged and switched on.
2. Laptop with Ubuntu 14.04
3. ROS Indigo installed on laptop (Read: How to install ROS Indigo in Ubuntu 14.04)
4. Your .bashrc file you should look like this: