ScoutSoftware - Revision history

Yoda: /* Usage */

2013-10-04T16:48:34Z

Usage

← Older revision		Revision as of 16:48, 4 October 2013
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	(so you should use a different static IP in your computer)		(so you should use a different static IP in your computer)

	And the shell access via ssh ~~uses~~ the following credentials:		And the shell access via ssh requires the following credentials:
	* Username = scout		* Username = scout
	* Password = sistemasautonomos		* Password = sistemasautonomos

Yoda: /* Usage */

2013-10-04T16:48:11Z

Usage

← Older revision		Revision as of 16:48, 4 October 2013
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	* Netmask = 255.255.255.0		* Netmask = 255.255.255.0
	(so you should use a different static IP in your computer)		(so you should use a different static IP in your computer)

	And the shell access via ssh uses the following credentials:		And the shell access via ssh uses the following credentials:
	* Username = scout		* Username = scout

Yoda at 16:45, 4 October 2013

2013-10-04T16:45:44Z

← Older revision		Revision as of 16:45, 4 October 2013
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	== Usage ==		== Usage ==

	~~=== Instructions ===~~		The robot is switched on/off using the two buttons. DO NOT switch-off the robot before performing a clean shutdown on the onboard computer. Whenever possible, connect it to the external power. This will not charge the batteries, but will not draw power from them.

	~~Network~~ configuration:		The communication with the onboard computer should be done using an Ethernet cable (crossed) and ssh. The network configuration is the following:
	* IP=192.168.1.2 ~~netmask~~=255.255.255.0		* IP = 192.168.1.2
	* ssh: ~~username~~=scout~~, password~~=sistemasautonomos		* Netmask = 255.255.255.0
			(so you should use a different static IP in your computer)
			And the shell access via ssh uses the following credentials:
			* Username = scout
			* Password = sistemasautonomos

	=== Packages ===		=== Packages ===

Yoda at 16:41, 4 October 2013

2013-10-04T16:41:16Z

← Older revision		Revision as of 16:41, 4 October 2013
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	== Usage ==		== Usage ==

			=== Instructions ===

			Network configuration:
			* IP=192.168.1.2 netmask=255.255.255.0
			* ssh: username=scout, password=sistemasautonomos

	=== Packages ===		=== Packages ===

Yoda: /* Examples */

2013-09-25T15:20:26Z

Examples

← Older revision		Revision as of 15:20, 25 September 2013
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	<node name="joydrive" pkg="scout_driver" type="joydrive"/>		<node name="joydrive" pkg="scout_driver" type="joydrive"/>
	</launch>		</launch>
			</pre>
	NOTE: you need to modify these file in order to launch the nodes remotely.		NOTE: you need to modify these file in order to launch the nodes remotely.
	~~</pre>~~

Yoda at 15:19, 25 September 2013

2013-09-25T15:19:57Z

← Older revision		Revision as of 15:19, 25 September 2013
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	== Software ==		== Software ==

	The source code can be found here: [[Media:Ros scout-1.0.tgz\|ros_scout-1.0.tgz]]. All platforms already include a scout directory at home, accessible ~~from~~ ROS_PACKAGE_PATH.		The source code can be found here: [[Media:Ros scout-1.0.tgz\|ros_scout-1.0.tgz]]. All platforms already include a scout directory at home with this software, whose packages are accessible via ROS_PACKAGE_PATH.

	== Usage ==		== Usage ==

Yoda at 14:52, 25 September 2013

2013-09-25T14:52:33Z

← Older revision		Revision as of 14:52, 25 September 2013
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	* /scout/motors (ScoutMotorsMsg) -- encoder counter for each wheel (count_left and count_right) in raw units		* /scout/motors (ScoutMotorsMsg) -- encoder counter for each wheel (count_left and count_right) in raw units

	=== Examples ===		== Examples ==

	An example of a launch file to launch all scout nodes (locally)		An example of a launch file to launch all scout nodes (locally)

Yoda at 14:52, 25 September 2013

2013-09-25T14:52:11Z

← Older revision		Revision as of 14:52, 25 September 2013
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			[[Image:Icon scout.png\|thumb\|Nomadic Scout platform]]

	== About ==		== About ==

Yoda at 14:50, 25 September 2013

2013-09-25T14:50:27Z

← Older revision		Revision as of 14:50, 25 September 2013
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	== Usage ==		== Usage ==

	~~It comprises these packages:~~		=== Packages ===
	* scout_drivers -- contains the main drivers		* scout_drivers -- contains the main drivers
	* scout_msgs -- defines the message types employed by the drivers		* scout_msgs -- defines the message types employed by the drivers
	* joy -- a copy of the [http://wiki.ros.org/joy joy package] compatible with the Scout software		* joy -- a copy of the [http://wiki.ros.org/joy joy package] compatible with the Scout software

	~~The drivers in scout_drivers include these nodes:~~		=== Nodes ===
	* motors -- interfaces the motor controllers: sends motor velocity commands and receives encoder readings		* motors -- interfaces the motor controllers: sends motor velocity commands and receives encoder readings
	* sensors -- interfaces the sonars (currently disabled) and the battery sensors		* sensors -- interfaces the sonars (currently disabled) and the battery sensors
Line 20:		Line 20:
	* keydrive -- node to control the robot using the keyboard		* keydrive -- node to control the robot using the keyboard

	~~Example~~ launch file:		=== Subscribed topics ===
			* /scout/motion (ScoutMotionMsg) -- reference velocities for each wheel (velocity_left and velocity_right) in raw units and an enable flag

			=== Published topics ===
			* /scout/battery (ScoutBatteryMsg) -- voltages (in V) of batteries (battery1) and external power supply (battery2)
			* /scout/sonars (ScoutSonarsMsg) -- (DISABLED BY DEFAULT) array of sonar readings
			* /scout/motors (ScoutMotorsMsg) -- encoder counter for each wheel (count_left and count_right) in raw units

			=== Examples ===

			An example of a launch file to launch all scout nodes (locally)
	<pre>		<pre>
	<launch>		<launch>
Line 28:		Line 38:
	<node name="joydrive" pkg="scout_driver" type="joydrive"/>		<node name="joydrive" pkg="scout_driver" type="joydrive"/>
	</launch>		</launch>
			NOTE: you need to modify these file in order to launch the nodes remotely.
	</pre>		</pre>

	~~=== Subscribed topics ===~~
	* /scout/motion (ScoutMotionMsg) -- reference velocities for each wheel (velocity_left and velocity_right) in raw units and an enable flag

	~~=== Published topics ===~~
	* /scout/battery (ScoutBatteryMsg) -- voltages (in V) of batteries (battery1) and external power supply (battery2)
	* /scout/sonars (ScoutSonarsMsg) -- (DISABLED BY DEFAULT) array of sonar readings
	* /scout/motors (ScoutMotorsMsg) -- encoder counter for each wheel (count_left and count_right) in raw units

Yoda at 14:48, 25 September 2013

2013-09-25T14:48:38Z

@@ Line 5: / Line 5: @@
 == Software ==
-The source code can be found here: [[Media:Ros scout-1.0.tgz|ros_scout-1.0.tgz]].
+The source code can be found here: [[Media:Ros scout-1.0.tgz|ros_scout-1.0.tgz]]. All platforms already include a scout directory at home, accessible from ROS_PACKAGE_PATH.
 It comprises these packages:
@@ Line 12: / Line 14: @@
 * joy -- a copy of the [http://wiki.ros.org/joy joy package] compatible with the Scout software
-The drivers in scout_drivers include three nodes:
+The drivers in scout_drivers include these nodes:
 * motors -- interfaces the motor controllers: sends motor velocity commands and receives encoder readings
 * sensors -- interfaces the sonars (currently disabled) and the battery sensors
 * joydrive -- node to control the robot using a gamepad