Introduction to Alex Project
Instructions on LiDAR
This project builds a robotic vehicle, Alex, with search and rescue functionalities. Alex will be tele‐operated from your laptop. Alex functionalities include its ability to precisely map out and manoeuvre through the obstacle course's environment, colour detection and parking into a 30 by 30 cm slot.
In raspberry pi,
source ~/Desktop/slam/devel/setup.bash
export ROS_MASTER_URI=http://192.168.43.66:1311 [ip of PI, read from the top of VNC Viewer]
export ROS_IP=192.168.43.66 [ip of PI]
In your laptop,
run the script using the command ./ros_start.sh
The script will run the following: {
source ~/Desktop/slam/devel/setup.bash
export ROS_MASTER_URI=http://192.168.43.200:1311 [this will always be the ip of the PI]
export ROS_IP=192.168.43.212 [ip from LAPTOP]
}
OR
simply type
source ~/Desktop/slam/devel/setup.bash
export ROS_MASTER_URI=http://192.168.43.200:1311 [this will always be the ip of the PI]
export ROS_IP=192.168.43.212 [ip from LAPTOP]
In raspberry pi,
cd Desktop/slam
roslaunch rplidar_ros rplidar.launch
In your laptop,
cd Desktop/slam
rosrun rplidar_ros rplidarNodeClient
The next step will open rviz map:
In your laptop,
roslaunch rplidar_ros view_slam.launch
Click add > by topic > pose
To configure the red arrow properly to front, back and left:
Alpha: 1
Shaft Length: 0,9
Shaft Radius: 0
Head Length: 0,3
Head Radius: 0,1
Change the red arrow to yellow colour
The TF represents the right of the robot [green in colour].
MakerScale: 0,4
Show Axes: TICK, everything else untick
Laser: TICK