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YouBot
Sudo password is youbot
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Groovy Installation ros-desktop (On-line tutorial) Ubuntu 12.04 Precise
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Once installation completes, cd /etc/ssh, then: sudo ssh-keygen -f rsa ssh_host_rsa_key -C "youbot" sudo ssh-keygen -f dsa ssh_host_dsa_key -C "youbot" sudo ssh-keygen -f ecdsa ssh_host_ecdsa_key -C "youbot"
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Pinging between youbot and PC is now functioning (Using proper ip adresses)
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Edit /etc/hosts and add each pc/robots connected in the network (Check ips as they may change) Format: ip <user_name>
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export ROS_MASTER_URI=http://<master_host_ip>:11311 (For ALL clients/server)
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export ROS_HOSTNAME=<master_host_ip> (For server only, if problem in running roscore and launch, export rosip)
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sudo apt-get install ros-groovy-youbot-oodl ros-groovy-navigation ros-groovy-laser-drivers
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Before launching youbot_oodl, write: export YOUBOT_CONFIG_FOLDER_LOCATION=/opt/ros/groovy/etc/youbot_driver/config/ (in the bash file)
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Now it can be tested with rostopic pub ... (velocities using geometry twist message)
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For using the Hokuyo: Make sure that the hokuyo_node will be able to access the Hokuyo laser scanner.
Start by listing the permissions of the Hokuyo:
$ ls -l /dev/ttyACM0 You will see something similar to:
crw-rw-XX- 1 root dialout 166, 0 2009-10-27 14:18 /dev/ttyACM0 If XX is rw: the laser is configured properly.
If XX is --: the laser is not configured properly and you need to:
$ sudo chmod a+rw /dev/ttyACM0
- Whenever I attempt to start an application that requires the YouBot's motors, I get an error message saying "EtherCAT Slave/Master already running.
This means that a previous application did not terminate correctly, and thus is stopping you from starting any application that uses the EtherCAT channel. Solution is found, will be typed up later.
- When I start up the JoyPad application from the YouBot, the YouBot starts moving weirdly and I cannot control with the GamePad.
The JoyPad gamepad was set to XControl rather than DirectControl (Slider button at the back of the controller). Set it to D and kill/restart the application.