To get started, we'll connect to Erle-Brain 3. When ordered with the WiFi option, Erle-Brain 3 ships preconfigured to generate a wireless network (in the 2.4GHz frequency band). In a nutshell, the brain acts as a router and allows a computer to get connected to it provided that they know the password (default password:
holaerle). Alternatively, you can also use the Ethernet connection to easily connecto to Erle-Rover.
First thing is to scan for the Erle-Rover's WiFi network. In my case, I identified a network named
erle-robotics-escarlata. Using the password
holaerle does it.
Let's go ahead and SSH into Erle-Rover (password again,
$ ssh email@example.com # password "holaerle", yes again The authenticity of host '10.0.0.1 (10.0.0.1)' can't be established. RSA key fingerprint is 14:ef:67:e3:2a:ad:69:b6:ec:63:b1:99:46:58:6c:41. Are you sure you want to continue connecting (yes/no)? yes Warning: Permanently added '10.0.0.1' (RSA) to the list of known hosts. firstname.lastname@example.org's password: The programs included with the Debian GNU/Linux system are free software; the exact distribution terms for each program are described in the individual files in /usr/share/doc/*/copyright. Debian GNU/Linux comes with ABSOLUTELY NO WARRANTY, to the extent permitted by applicable law. Last login: Tue Apr 5 15:34:31 2016 from 10.0.0.2 erle@erle-brain-3 ~ $ ls AntennaTracker.elf APMrover2.elf ArduCopter.elf ArduPlane.elf gtk-tests ros2_ws spider.launch APM apm.sh ArduCopterHexa.elf Documents PXFmini ros_catkin_ws spider_ws
That's about it, you've got a prompt to your ground robot.
In case you didn't order the WiFi add-on, you can just hook an Ethernet cable to Erle-Brain 2 from your router. The
eth0 interface has been configured to use DHCP so the Rover should get an IP from the router directly. You can easily figure out which IP corresponds to which machine with some command line magic but if you're in a hurry and would like to type less, we've got your back.
Erle-Rover comes preconfigured with an avahi service that allows anyone to track its brain using
$ ping erle-brain-3.local PING erle-brain-3.local (192.168.1.51): 56 data bytes 64 bytes from 192.168.1.51: icmp_seq=0 ttl=64 time=1.130 ms 64 bytes from 192.168.1.51: icmp_seq=1 ttl=64 time=0.658 ms 64 bytes from 192.168.1.51: icmp_seq=2 ttl=64 time=0.636 ms 64 bytes from 192.168.1.51: icmp_seq=3 ttl=64 time=0.703 ms ...
Which means that you can ssh into the Rover just by typing:
$ ssh email@example.com # password, "holaerle"
Let's take a moment to inspect some of the ROS interfaces exposed by default:
erle@erle-brain-3 ~ $ rosnode list /mavros /raspicam_node /rosout erle@erle-brain-3 ~ $ rostopic list No handlers could be found for logger "rosout" /camera/camera_info /camera/image/compressed /diagnostics /mavlink/from /mavlink/to /mavros/actuator_control /mavros/battery /mavros/cam_imu_sync/cam_imu_stamp /mavros/extended_state /mavros/global_position/compass_hdg /mavros/global_position/global /mavros/global_position/local /mavros/global_position/raw/fix /mavros/global_position/raw/gps_vel /mavros/global_position/rel_alt /mavros/image/camera_image /mavros/image/camera_image/compressed /mavros/image/camera_image/compressed/parameter_descriptions /mavros/image/camera_image/compressed/parameter_updates /mavros/imu/atm_pressure /mavros/imu/data /mavros/imu/data_raw /mavros/imu/mag /mavros/imu/temperature /mavros/local_position/local /mavros/manual_control/control /mavros/mission/waypoints /mavros/mocap/pose /mavros/px4flow/ground_distance /mavros/px4flow/raw/optical_flow_rad /mavros/px4flow/temperature /mavros/radio_status /mavros/rc/in /mavros/rc/out /mavros/rc/override /mavros/safety_area/set /mavros/setpoint_accel/accel /mavros/setpoint_attitude/att_throttle /mavros/setpoint_attitude/attitude /mavros/setpoint_attitude/cmd_vel /mavros/setpoint_position/local /mavros/setpoint_velocity/cmd_vel /mavros/state /mavros/time_reference /mavros/vfr_hud /mavros/vibration/raw/vibration /mavros/vision_pose/pose /mavros/vision_pose/pose_cov /mavros/vision_speed/speed_vector /mavros/wind_estimation /rosout /rosout_agg /tf /tf_static
The following script shows how to move Erle-Rover around using the Robot Operating System. Feel free to play with the parameters around!
#!/usr/bin/env python3 import rospy from std_msgs.msg import String import time from mavros_msgs.msg import OverrideRCIn from mavros_msgs.srv import SetMode from mavros_msgs.srv import SetMode # some variables to define the behavior of the robot (hardcoded, modify at your convenience) throttle_channel=2 steer_channel=0 def autopilot_abstraction(speed='SLOW',direction='STRAIGHT', exec_time=1): pub = rospy.Publisher('mavros/rc/override', OverrideRCIn, queue_size=10) r = rospy.Rate(10) #10hz msg = OverrideRCIn() start = time.time() flag=True #time flag # Abstract the speed of the Rover if speed =='SLOW': msg.channels[throttle_channel]=1558 elif speed =='NORMAL': msg.channels[throttle_channel]=1565 elif speed == 'FAST': msg.channels[throttle_channel]=1570 # Abstract the direction of the Rover if direction =='STRAIGHT': msg.channels[steer_channel]=1500 elif direction =='LEFT': msg.channels[steer_channel]=1200 elif direction == 'RIGHT': msg.channels[steer_channel]= 1800 while not rospy.is_shutdown() and flag: sample_time=time.time() if ((sample_time - start) > exec_time): flag=False rospy.loginfo(msg) pub.publish(msg) r.sleep() if __name__ == '__main__': rospy.init_node('tryrover_node', anonymous=True) rospy.wait_for_service('/mavros/set_mode') change_mode = rospy.ServiceProxy('/mavros/set_mode', SetMode) answer = change_mode(custom_mode='manual') print (answer) if 'True' in str(answer): try: autopilot_abstraction('SLOW','RIGHT', 2) autopilot_abstraction('SLOW','STRAIGHT', 2) autopilot_abstraction('SLOW','LEFT', 2) except rospy.ROSInterruptException: pass