notes.md

Session 21.01

• kitchen repo contains several example nodes
• clone relevant nodes as subrepo with naming scheme group-name_node-name

Usage

• roslaunch mycobot_280_gripper_moveit mycobot_moveit.launch aswell as roscore need to run in background

SSH Connection

• install ssh: sudo apt update && sudo apt install openssh-server -y && sudo systemctl enable ssh && sudo systemctl start ssh
• set state as up: sudo ip link set ens33 up && sudo dhclient ens33
• ip a shows ip address, should also show ens33 as state UP
• edit config: sudo nano /etc/ssh/sshd_config comment in the lines Port 22 and ListenAddress 0.0.0.0
• firewall: sudo ufw allow 22/tcp && sudo ufw enable
• start server: sudo systemctl start ssh && sudo systemctl enable ssh
• connect: ssh -p 22 username@ip-address

Build

Long build time - possibly search better alternative, apriltags requires usage of catkin_make_isolated

1. catkin_make_isolated
2. source devel/setup.bash

Camera Nodes

1. Launch nodes with rosrun taskbot camera_node.py and rosrun taskbot apriltag_node.py
2. Camera data is published to /camera/image_raw
3. Tags are published under tag_detections
4. pose_R = [ [ 0.99183751 0.05636288 -0.11437471] # First row: tag's x-axis [-0.03622316 0.9845915 0.17107737] # Second row: tag's y-axis [ 0.12225478 -0.16553794 0.97859642] # Third row: tag's z-axis ] and pose_T define the location in space