The university of OKlahoma. Sping - 2019 Project developed for CS4023, Introduction to Intelligent Robotics
Running the code.- Both the TurtleBot computer and the CSN Linux box must be connected to the Wi-Fi network “CS4023”.
Find out the IP address of the TurtleBot computer and the CSN Linux box by running the command the following command in the terminal of each computer.
ifconfig
Log into the Turtlebot computer from the CSN Linux box by using ssh:
ssh student@<TURTLEBOT_IP>
In the the laptop attached to the TurtleBot, the robot navigation launch packages must to be located inside the catkin_ws/ src directory, then command catkin_make must be typed for building the packages inside catkin_ws/.
Export the variables inside your workspace setup script:
echo export ROS_MASTER_URI=http://IP_OF_TURTLEBOT:11311 >> ~/.bashrc
echo export ROS_HOSTNAME=IP_OF_PC >> ~/.bashrc
Remote computer:
Make sure the TurtleBot is turned on. Through ssh, startup the TurtleBot by running:
roslaunch turtlebot_bringup minimal.launch –screen
Set the 3D sensors of the TurtleBot to “kinect”:
export TURTLEBOT_3D_SENSOR=kinect
Startup the 3D camera: roslaunch turtlebot_bringup 3dsensor.launch
SETUP Catkin package (in a new shell)
- Create or use a catkin workspace called "catkin_ws"
clone the repository into the ~/catkin_ws/src/ folder
cd ~/catkin_ws catkin_make
Each shell opened has to run the following command before launching any ros node: . ~/catkin_ws/devel/setup.bash
For running the robot real simulation:
export DISPLAY=:0
roslaunch qlearning_project qlearning.launch --screen