Run these following commands on the robot laptop, if not explicitily expressed to SSH to other locations.
Be assured that ROS2 is properly set up and all the PCs clocks are synchronized (use ntpdate -b <IP_TO_NTP_SERVER> on ergoCubSN000 is 10.0.2.1).
The ROS2 setup must use cyclone_dds as DDS, instead of the ROS2 default, and use the cyclonedds.xml config file on each PC, with the proper IPs set (guide here: https://cyclonedds.io/docs/cyclonedds/latest/config/index.html)
0- Turn on the robot and use the yarpmanager to run the yarpserver while the robot is suspended on the crane.
1- SSH to the robot torso: ssh -X ergocub-torso from the laptop. Set up the robot using the command yarprobotinterface --config ergocub_wbd_ros2.xml in the ergoCubSN000 torso robot_configuration folder (you can go there using the alias gotoRobotConfigurationFolder)
2- Run the merging of the yarp ports for the navigation, using the alias feet_ports_merge on another terminal.
3- Calibrate the FT sensors by:
yarp rpc /wholeBodyDynamics/rpc
>> calib all 300
4- SSH to the torso and launch the WalkingModue (after checking out to the proper branch for navigation: simonemic/ergoCubSN000 and making and installing it).
For further instruction on how to use the walking-controllers, look at this link: https://github.com/robotology/walking-controllers
5- While the robot is still suspended on the crane, type the following command:
yarp rpc /walking-coordinator/rpc
>> prepareRobot
6- After the robot is prepared correctly, lower the robot on the ground and activate the walking mode (in the same terminal as the one in the previous point):
yarp rpc /walking-coordinator/rpc
>> startWalking
1- SSH to the robot head: ssh -X ergocub-head from the laptop. Set up the robot using the command yarprobotinterface --config sensors.xml in the ergoCubSN000 head robot_configuration folder (you can go there using the alias gotoRobotConfigurationFolder)
2- Launch the ROS2 yarp devices by typing each of the following commands inside the folder: cd $ROBOT_CODE && cd /ros2_ws/src/ergocub_navigation/config/yarp and typing each of the following commands in a separate terminal:
yarprobotinterface --config depth_compressed_ros2.xml
yarprobotinterface --config head_imu_ros2.xml
yarprobotinterface --config lidar_compressed_ros2.xml
1- Run the BT interface with the walking-controllers by: ros2 run ergocub_navigation planner_trigger_server
2- Launch the navigation stack using: ros2 launch ergocub_navigation launch_all.launch.py
3- Run the navigation interface with the walking-controller by: ros2 run ergocub_navigation path_converter
4- (optional) To display planned footsteps on RViz: ros2 launch ergocub_navigation footsteps_planner_viewer