Difference between revisions of "Using RVIS with Pi"
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Latest revision as of 17:53, 24 December 2020
Installing ROS
Installing complete ROS binaries locally:
- Virtualbox osx:
- https://wiki.epfl.ch/roscontrol/rosinstall
- Brew osx:
- http://wiki.ros.org/melodic/Installation/macOS/Homebrew/Source
- Windows:
- http://wiki.ros.org/Installation/Windows
- Ubuntu:
- (there’s more variation here, but I’ll leave the general one for now)
- http://wiki.ros.org/Installation/Ubuntu
- Indigo Igloo (same one on the pi):
- http://wiki.ros.org/indigo/Installation
Setting up RVIZ
RVIS does not run off of the pi as pi’s lack ogre, a core dependency of RVIS
Getting RVIS to work over multiple computers (generalized in case we switch off the pi or change os at some point):
Goal: as the pi cannot run RVIS by itself, RVIS instead can be run locally on a host computer and set the host to remotely pinpoint the master node on the pi.
---tested on a fresh pi flash, not the bike teams pi, the methodology should be the same but minor tweeks will be made in the fall---
Host: - SSH into the pi (both ethernet and wireless should function here)
pi: - export ROS_MASTER_URI=http://(host.ip):11311 - Using host ip instead of localhost - export ROS_IP=(host.ip) - Get around DHCP firewall issues that may occur - roscore - Initing roscore to the host
Host: - export ROS_MASTER_URI=http://(host.ip):11311 - Informs host where to look and what port will be theoretically outputting data - export ROS_IP=(pi.ip) - Again getting around firewall issues - rosrun rviz rviz - Assuming host has the full binaries of ROS installed, this should fire up rvis locally and attach it to the master node of the pi
---end of things that are subject to change---
To confirm functionality:
- rxgraph
- Shows a tree of nodes and how they’re organized
QOL:
- everytime a new terminal is open on the host/pi, we have to call the 2 export commands, can make this permanent by directly edit the ~/.bashrc file:
- sudo gedit ~/.bashrc
- add the two export commands at the end of the file.
- source ~/.bashrc
- restart terminal
