Class 4: LIS VM

Download our LIS VM from dropbox before class on Tuesday

link to vm

The VM has ros installed and all networking preconfigured to use our robot.

• username: lis_user
• password: pomdp

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Summary:

1. pr2 simulator with gazebo
2. commanding real robot with vm
3. recording and playing back sensor data
4. final projects discussion

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1. pr2 simulator

You can simulate the pr2 with gazebo - a 3d physics simulator. To launch gazebo:

roslaunch pr2_gazebo pr2_empty_world.launch

• test rviz with 'rviz' a default configuration is already set up

• test a program:

  rosrun lis_pr2_pkg uber_controller_tester.py

##2. Commanding real robot on the VM

ssh into the pr2 and do robot claim, robot start as usual.

Then update your vm's .bashrc at the top of the file. Change robot=sim to robot=pr2 . Then run:

    source ~/.bashrc

remember to source your .bashrc

The terminal should report "ros master set to local host" or "ros master set to pr2". Verify it is set for the robot.

• test rviz with rviz -- you should see live updated values from the robot.

• test a program:

  rosrun lis_pr2_pkg uber_controller_tester.py

If the robot starts running your program you're good to go!

3. recording and playing back sensor data

see http://wiki.ros.org/rosbag/

4. Discussion of final projects

HOMEWORK

Record real sensor data on the pr2. Then play it back while running the pr2 simiulatr to verify your reactive controller from last week works! If you have not completed your reactive controller continue working on it this week with the simulator to assist you.