crash_course.md

How to make the boat go

ssh into boat

• cd to ors-git-repo/shell_scripts
• connect to bat with ./connect_to_fitpc.sh

start code

• for simulator: roslaunch oars_pkg simulator_auto.launch

launch webpage thing

• cd to ors-git-repo/fit_pc_pkg/scritps/html-gui
  • alternately, from anywhere roscd fit_pc_pg/scripts/html-gui
• use a web browser to open index.html
  • (in my case chromium-web-browser index.html)
• there is a prompt, the default number is correct for connecting to the boat
  • for running simulator, change that to localhost

change mode

• `rostopic pub /operating_mode std_msgs/Int16 "data: #"
• or go to ors-git-repo/shell_scripts and run sh op_mode.sh #
  • key:
    • 0: testing
    • 1: RC
    • 2: auto
    • 3: semi-auto (autonomous sails, rc rudder)
    • 4: station keep

set waypoint

waypoint using lat-lon

• use this command:

rostopic pub /raw_waypoints geometry_msgs/Pose2D "x: lat 
y: lon 
theta: 1"

• ps. use tab-complete
• alternately, go to ors-git-repo/shell_scripts and run make_gps_wp.sh lat lon

waypoint using local coordinates

• use this command:

rostopic pub /local_waypoints geometry_msgs/Pose2D "x: east
y: north
theta: 1"

• ps. use tab-complete
• alternately, go to ors-git-repo/shell_scripts and run make_local_wp.sh east north

other waypoint things

• boolean publishers follow the format rostopic pub <topic> std_msgs/Bool "data: <true/flase>"
• publish true to /clear_waypoints to clear waypoints
• publish true to /rm_waypoint to remove the most recently added waypoint
• publish true to /skip_waypoint to skip the next waypoint set for the boat