iitbmartian / rover-base

Documentation for Base-Station Setup

Setting up SSH

• Connect the base-station via wired network (LAN) to the Ruckus or connect wirelessly to Rover-LAN (password: rover2409)
• Setup the IP Address as 192.168.2.x and Netmask as 255.255.255.0
• Add it to /etc/hosts file for hostname resolution (required for ROS setup)
• Add the IP Address of NUC as well (192.168.2.2 MRT-NUC)
• Reboot the base-station
• Connect remotely via the command: ssh rover@MRT-NUC, password is: 2409

List of IP Addresses in the /etc/hosts file:

Hostname	IP	Description (Ubuntu Version)
MRT-NUC	192.168.2.2	Rover
iitbmartian-H310M-S2	192.168.2.3	LabPC(20.04)
Pijames-ASUS	192.168.2.4	Annirudh Lappy - basestation
lenovo	192.168.2.5	Khush Lappy - basestation
Predator	192.168.2.6	Harsh Lappy - basestation
vedika-ubuntu	192.168.2.7	Vedika Lappy - basestation
nishant	192.168.2.8	Nishant Lappy - basestation
N/A	192.168.2.50 onwards	Phones for GUI
N/A	192.168.2.60 onwards	Panorama GUI

Creating Workspace

• Create a new directory base_ws, create directory src, and run catkin_make
• Git pull rover-base in src, and catkin_make

Configuring Joystick

Running the Rover

• Run roscore on base-station, and note the ROS-MASTER-URI
• Go into the base_ws and source devel/setup.bash, roslaunch basestation joystick_run.launch
• Connect remotely via the command: ssh rover@MRT-NUC, password is: 2409
• Run the following commands in sequential order on the NUC:
  • master <hostname>
  • cd ~/ws/rover_ws
  • .-ws

  • Package	Command
    Drive	roslaunch rover_drive drive.launch
    Arm	roslaunch rover_arm arm.launch
    Light	roslaunch rover_light light.launch
    Measure	roslaunch rover_measure measure.launch