IF ssh: connect to host 192.168.XXX.XXX port 22: Connection refused
sudo service ssh status
sudo service ssh start
Run Raspberry Pi
$ ssh ubuntu@192.168.0.185
Run Orangepi
$ ssh orangepi@192.168.0.103
Run VPN on Raspberry PI
sudo su
cd /etc/wireguard
wg-quick up wgo
$ ssh ubuntu@10.0.0.12
$ sudo bluetoothctl
PS4, last 4-digits 1268
$ connect A0:5A:5C:B3:3A:75
$ python3 ErcoleController.py
Run RPLIDAR
$ ros2 launch rplidar_ros rplidar_a1_launch.py
on Desktop
$ ros2 launch rplidar_ros view_rplidar_a1_launch.py
$ ros2 launch ercole_bringup base.launch.py
on rover
ros2 run rplidar_ros rplidar_composition --ros-args -p serial_port:=/dev/ttyUSB0 -p frame_id:=laser_frame -p angle_compensate:=true -p scan_mode:=Standard
on desktop
ros2 launch rplidar_ros view_rplidar_a1_launch.py
For all ROS based use cases, the zuuu_hal node must be running :
ros2 run zuuu_hal hal
or
ros2 launch zuuu_hal hal.launch.py
ros2 run teleop_twist_keyboard teleop_twist_keyboard
or a joystick on orangepi
ros2 launch zuuu_hal test_joystick.launch.py
ros2 run zuuu_hal teleop_joy
ros2 service call /SetZuuuSafety zuuu_interfaces/srv/SetZuuuSafety "{safety_on: False}"
ros2 service call /SetFrontLights zuuu_interfaces/srv/SetFrontLights "{front_lights_on: True}"
Sets a constant speed for a given duration.
Go forward
ros2 service call /SetSpeed zuuu_interfaces/srv/SetSpeed "{x_vel: 0.11, y_vel: 0.0, rot_vel: 0.0, duration: 1.1415}"
Go backward
ros2 service call /SetSpeed zuuu_interfaces/srv/SetSpeed "{x_vel: -0.11, y_vel: 0.0, rot_vel: 0.0, duration: 1.1415}"
Right turn in place
ros2 service call /SetSpeed zuuu_interfaces/srv/SetSpeed "{x_vel: 0.0, y_vel: 0.0, rot_vel: 0.5, duration: 3.1415}"
Left turn in place
ros2 service call /SetSpeed zuuu_interfaces/srv/SetSpeed "{x_vel: 0.0, y_vel: 0.0, rot_vel: -0.5, duration: 3.1415}"