KurtEck
04-05-2016, 01:09 PM
Is there a simple RVIZ setup for Dummies :lol:
I start and stop trying to use RVIZ every several months and each time I do I forget most everything I learned the previous time, so was wondering if there is a cheat sheet out there that can help people to setup RVIZ.
In my current particular case I would like to setup to work with KevinO's hexapod_ros project, with a two computer setup. The PhantomX has an Odroid-XU4 on it that runs the hexapod code and some form of PC to run rviz.
From earlier notes from Renee (r3n33):
I launch the hexapod_ros code on the Odroid:
In my case I do:
roslaunch hexapod_bringup phantomx.launch
Note: the phantomx.launch is a copy of the hexapod_simple.launch where I substituted in to use the phantomx and DS3 as the defaults.
Also in the earlier notes was some stesp to start up jackd for sounds, but I skipping that for now as I have plugged in sound adapter yet.
On a remote machine, I see from old notes, edited slightly for changes in directory layout:
cd ~/catkin_ws
source devel/setup.sh
export ROS_MASTER_URI=http://<odroid_ip_address>:11311
roslaunch hexapod_bringup rviz.launch
I was getting several errors, which was reduced when I;
sudo apt-get install ros-indigo-rtabmap-ros
Next thing I am running into is in this current attempt, I thought I would try having the Linux PC, be virtual PC on my Windows 10 setup. So I have Ubuntu 14.04 installed in an Oracle VM VirtualBox. Things appear to run OK, except I am not sure I can get the networking stuff to work properly. That is in a terminal window in the VM: I can ping my Odroid and it works fine.
But on the Odroid, in the run of hexapod, I get messages like:
Couldn't find an AF_INET address for [kurt-VirtualBox]
If I do a ifconfig in the virtualbox I see:
[email protected]:~/catkin_ws/src/hexapod_ros/hexapod_bringup/launch$ ifconfig
eth0 Link encap:Ethernet HWaddr 08:00:27:48:21:6a
inet addr:10.0.2.15 Bcast:10.0.2.255 Mask:255.255.255.0
inet6 addr: fe80::a00:27ff:fe48:216a/64 Scope:Link
Edit: on both machines either need to have the IP addresses listed in /etc/hosts file or so far it looks like you can get away with having each ROS computer export their ROS_IP address with a command like:
export ROS_IP=`hostname -I`
Which I know is not in my normal: 192.168.2.xxx range
So first question, has anyone tried this and made it work? Or should I instead setup another machine just running Linux to run rviz?
Assuming I get this up and working, suggestions on how to use RVIZ to do specific tasks would be appreciated.
Example Suppose I would like to be able to ask the robot to walk forward some number of feet in a certain amount of time, can I do so and also then see what the robot actually did?
Thanks in advance
Kurt
I start and stop trying to use RVIZ every several months and each time I do I forget most everything I learned the previous time, so was wondering if there is a cheat sheet out there that can help people to setup RVIZ.
In my current particular case I would like to setup to work with KevinO's hexapod_ros project, with a two computer setup. The PhantomX has an Odroid-XU4 on it that runs the hexapod code and some form of PC to run rviz.
From earlier notes from Renee (r3n33):
I launch the hexapod_ros code on the Odroid:
In my case I do:
roslaunch hexapod_bringup phantomx.launch
Note: the phantomx.launch is a copy of the hexapod_simple.launch where I substituted in to use the phantomx and DS3 as the defaults.
Also in the earlier notes was some stesp to start up jackd for sounds, but I skipping that for now as I have plugged in sound adapter yet.
On a remote machine, I see from old notes, edited slightly for changes in directory layout:
cd ~/catkin_ws
source devel/setup.sh
export ROS_MASTER_URI=http://<odroid_ip_address>:11311
roslaunch hexapod_bringup rviz.launch
I was getting several errors, which was reduced when I;
sudo apt-get install ros-indigo-rtabmap-ros
Next thing I am running into is in this current attempt, I thought I would try having the Linux PC, be virtual PC on my Windows 10 setup. So I have Ubuntu 14.04 installed in an Oracle VM VirtualBox. Things appear to run OK, except I am not sure I can get the networking stuff to work properly. That is in a terminal window in the VM: I can ping my Odroid and it works fine.
But on the Odroid, in the run of hexapod, I get messages like:
Couldn't find an AF_INET address for [kurt-VirtualBox]
If I do a ifconfig in the virtualbox I see:
[email protected]:~/catkin_ws/src/hexapod_ros/hexapod_bringup/launch$ ifconfig
eth0 Link encap:Ethernet HWaddr 08:00:27:48:21:6a
inet addr:10.0.2.15 Bcast:10.0.2.255 Mask:255.255.255.0
inet6 addr: fe80::a00:27ff:fe48:216a/64 Scope:Link
Edit: on both machines either need to have the IP addresses listed in /etc/hosts file or so far it looks like you can get away with having each ROS computer export their ROS_IP address with a command like:
export ROS_IP=`hostname -I`
Which I know is not in my normal: 192.168.2.xxx range
So first question, has anyone tried this and made it work? Or should I instead setup another machine just running Linux to run rviz?
Assuming I get this up and working, suggestions on how to use RVIZ to do specific tasks would be appreciated.
Example Suppose I would like to be able to ask the robot to walk forward some number of feet in a certain amount of time, can I do so and also then see what the robot actually did?
Thanks in advance
Kurt