This page explains how to configure your workstation to control the Mini-Lab
Pair your robot with your worksation
- First you need to connect the workstation to your Mini-Lab's WIFI that should look like ML-201412-006
- Then you need to know what your IP is. To do so you can use the command "ifconfig"
- You should see your adress in wlan topic after "inet adr:"
And what your robot's IP is. The address starts with 192.168.0.2 and finishes with your model's number, in our case ML-201412-006. So in this example the robot address is 192.168.0.206.
- You can ping this address to be sure everything is going well so far.
- Now that you know the IPs, we can configure the ros parameters. Open a new terminal and run the following commands but don't forget to replace by your addresses:
$ echo "export ROS_MASTER_URI=http://192.168.0.206:11311" >> ~/.bashrc $ echo "export ROS_IP=192.168.0.100" >> ~/.bashrc
- In this example the MASTER is the Mini-Lab (192.168.0.206) and the workstation IP is 192.168.0.100
Start your Mini-Lab topics
- To have access to the Mini-Lab's topics you need run the following commands:
$ ssh email@example.com
- Don't forget to replace by your Mini-Lab's IP
- This command start a ssh communication with the Mini-Lab
$ roslaunch minilab_launch minilab_driver_hokuyo.launch
- This command start drivers to control the motors and the lidar
- If you run the command "$ rostopic list" in a new terminal you should see all the topics published by your Mini-Lab.
CTRL+C in your terminal to stop this example.
All demonstrations are independent, you have to stop this demonstration before starting a new one.