QinjieLin-NU / exoedu-robot

exoedu-robot

simulation

1. Build urdf model using stl files and load in the pybullet simulation.

   export MESA_GL_VERSION_OVERRIDE=3.3 
   python test_robot.py
   

   

connect through ROS

1. launch aduino - tutorial. Use arduino IDE to upload the code to the arduino/ Once the compilation is completed, you will receive a message about program storage space and dynamic memory usage, similar to this:

   Sketch uses 9,392 bytes (29%) of program storage space. Maximum is 32,256 bytes. Global variables use 1,356 bytes (66%) of dynamic memory, leaving 692 bytes for local variables. Maximum is 2,048 byte
   

2. launch rosserial node to publish sensor data

   chmod a+rw /dev/ttyACM0
   export ROS_MASTER_URI=http://192.168.100.68:11311
   export ROS_HOSTNAME=192.168.100.203
   rosrun rosserial_arduino serial_node.py /dev/ttyACM0 _baud:=57600
   
   export MESA_GL_VERSION_OVERRIDE=3.3 
   python main.py
   

   

connect through Webots

1. launch webots with web interface. Run the bash to install webots thourgh binary release or deb - tutorial.

   export WEBOTS_HOME=/home/username/webots
   export MESA_GL_VERSION_OVERRIDE=3.3 
   webots /root/exoedu-robot/webot_worlds/worlds/exoedu_blank.wbt   --no-sandbox  --stream
   

   In the webot_worlds/web folder, run following command to launch the web server

   python3 -m http.server
   

   Remember to open the simulation server port 1234 and then access the client GUI by the address: localhost_ip:8000