usma_remote_interface

1. Install all dependencies (assuming ROS Indigo).

• $ sudo apt-get install ros-indigo-rosbridge-server
• $ sudo apt-get install ros-indigo-mjpeg-server
• $ sudo apt-get install ros-indigo-usb-cam

2. Clone the usma_remote_interface ros package into your catkin workspace src folder.

• $ cd ~/catkin_ws/src
• $ git clone https://github.com/westpoint-robotics/usma_remote_interface.git usma_remote_interface

3. Run the setup script.

• $ cd ~/catkin_ws/src/usma_remote_interface/scripts
• $ ./usma_remote_interface_setup.sh

4. Edit the master.launch argument for the correct video input.

• $ cd ~/catkin_ws/src/usma_remote_interface/launch
• $ ls /dev/video* (to see available video devices)
• $ vim master.launch (or your preferred editor)
• Change the video device. Internal webcams will typically be video0, an external webcam could be video1.
• <arg name="video_device" default="/dev/video1" />

5. Edit the javascript config.

• $ roscd usma_remote_interface/webpage
• $ vim config.js (or your preferred editor)
• Edit the file to reflect desired topics and IPs

6. Launch master.launch.

• $ roslaunch usma_remote_interface master.launch

7. Check to make sure your video feed is working. Change the image topic to match the topic name.

• $ rosrun image_view image_view image:=/usb_cam/image_raw

8. Go to a web browser and enter in the IP address for the computer.

• url: <ip_address_server>
• example: localhost

9. To set up a ROS master to connect multiple machines over the network:

• $ cd ~
• $ vim .bashrc (or your preferred editor)
• Add this export to the end of your .bashrc file that matches the IP of your master machine (i.e. on the robot):
  • export ROS_MASTER_URI=http://ros02:11311
• Both the client and server should have this export in their .bashrc
• Edit your /etc/hosts to include the computer name and IP address for the other computer similar to these instructions: http://www.faqs.org/docs/securing/chap9sec95.html
• Other references:
  • http://wiki.ros.org/ROS/Tutorials/MultipleMachines
  • http://wiki.ros.org/ROS/NetworkSetup

10. To run teleop from your client machine, plug-in your joystick and execute:

• $ roslaunch teleop_twist_joy teleop.launch
• You may need to remap twist message names