| Description | Username | Hostname (Computer Name) | IP | Password | OS | ROS |
|---|---|---|---|---|---|---|
| Pendant Tablet | tablet | tablet20 | 192.168.1.99 | 1234 | Ubuntu 20.04 | Noetic |
| Main Computer | rockie | rockie16 | 192.168.1.100 | rockie | Ubuntu 16.04 | Kinetic |
| Oarbot (Silver) | oarbot_silver | oarbot_silver-NUC | 192.168.1.101 | 1234 | Ubuntu 16.04 | Kinetic |
| Oarbot (Blue) | oarbot_blue | oarbot_blue-NUC | 192.168.1.102 | 1234 | Ubuntu 16.04 | Kinetic |
| Clearpath Ridgeback | administrator | CPR-R100-0064 | 192.168.1.103 | clearpath | Ubuntu 16.04 | Kinetic |
| Clearpath Husky (Blue) | husky_blue | husky-blue-IND | 192.168.1.104 | 1234 | Ubuntu 18.04 | Melodic |
| Clearpath Husky (Black) | husky_black | husky-black-IND | 192.168.1.105 | 1234 | Ubuntu 18.04 | Melodic |
With the devices above configurations, just run ./all_devices_initial_setup.bash. It will install all the software automatically.
run sudo nano /usr/sbin/ros-start
Change the line export ROS_MASTER_URI=http://127.0.0.1:11311 to
export ROS_MASTER_URI=http://192.168.1.100:11311/
export ROS_IP=192.168.1.103
To make sure that ros.service by Clearpath starts after the network is really online,
edit ros.service file with command
sudo nano /lib/systemd/system/ros.service
and add the following lines
After=network-online.target
Wants=network-online.target
in place of the line
After=network.target
For further information about this above see this link.
These directions are for the Ridgeback, but it's the same process for the Huskies. The goal is to modify the automatic roslaunch files to do the following:
- Add namespacing to prevent naming conflicts
- Add e-stop functionality
- Add scaling for forward and inverse kinematics
Following https://www.clearpathrobotics.com/assets/guides/kinetic/ridgeback/startup.html
In the /etc/ros/kinetic/ros.d directory of the Ridgeback, move the existing files and copy the three files in the ridgeback_startup folder. These new launch files put all the Ridgeback nodes and topics into the /ridgeback namespace.
You can run this automatically by running ./ridgeback_namespacing.bash. This will move all the files currently in /etc/ros/kinetic/ros.d to the folder /home/administrator/backup_ros_d.
Following http://www.clearpathrobotics.com/assets/guides/melodic/husky/InstallHuskySoftware.html
Install Ubuntu and ROS
Run sudo apt-get install ros-melodic-husky-robot
Run rosrun husky_bringup install
The installer will tell you to run one more command. Execute it.
Test