Repository for the Tank

Important Commands

Push to github:

git add .

git commit -m "Some Message"

git push ssh://[email protected]:443/rostank/tank_ws.git master

Run ROS

roscore

Run Packages

cd tank_ws

source devel/setup.bash

If running multiple machines:

cd tank_ws

export ROS_MASTER_URI=http://10.122.12.106:11311

export ROS_IP=10.122.12.106

source devel/setup.bash

Run GPS

roslaunch ublox_gps ublox_device.launch node_name:=gps param_file_name:=navigps

Run Stereo Camera

roslaunch zed_wrapper zed2.launch

Run IMU

rosrun imutfb imumag.py

Run Diff_drive

rosrun differential_drive twist_to_motors.py

Selector

roslaunch twist_mux twist_mux.launch

rostopic echo /twist_mux/cmd_vel

rostopic pub /joy_priority std_msgs/Bool true

rostopic pub -r 5 /twist_au geometry_msgs/Twist '{linear: {x: 0.1, y: 0.0, z: 0.0}, angular: {x: 0.1,y: 0.2,z: 0.3}}'

led indicator

rosrun led_control led_listener.py

Run Arduino

rosrun rosserial_python serial_node.py /dev/ttyUSB0 _baud:=115200

Send drive signal to Arduino

rostopic pub -r 1 /lwheel_vtarget std_msgs/Float32 '{data: 0.0}'

Launch for joystick control

Differential_drive

led_listener

twist_mux

serial_node

cd ~/tank_ws/launch roslaunch joy_drive.launch

Run Sensor Fusion

roslaunch robot_localization ekf_double.launch

Launch Sensor drive

cd ~/tank_ws/launch

roslaunch sensor_drive.launch

Copy over ssh:

scp [email protected]:/home/tank/tank_ws/sensorbags/sensorbags.zip ~/Downloads

scp /Downloads/sensorbags.zip [email protected]:/tank_ws/sensorbag

Visualization

Tomtom: https://api.tomtom.com/map/1/tile/basic/main/{z}/{x}/{y}.png?tileSize=512&key=S7FOifl6AGAQlYLoR3GmDBzLMelDrCe7