Using Launch Files

These instructions are applicable to the all the guides listed above. Each of the following parts will need to be ran on their own terminal window/ or tab. The steps used to run a ChairBot are replicable for each ChairBot needed. All the steps are under the assumption the neato-botvac and raspberry pi are turned on, a PS4 controller is connected to the laptop via bluetooth, and both the laptop and the raspberry pi(s) are all connected to the same WiFi network. If not, please complete the steps mentioned above.

Laptop / Central Server

1. Open a terminal window
2. If the inet IP address of the computer is unknown

• Run the command: sudo ifconfig
• Locate the inet addr of wlan0

3. Run the commands:

• source ~/catkin_ws/devel/setup.bash
• export ROS_IP=192.168.1.64 (local inet IP address)
• export ROS_MASTER_URI=http://192.168.1.64:11311 (local inet IP address)

4. Run the desired launch file

• Ex: roslaunch central_server sub.launch
• Choose from this list under Laptop / Main Computer

ChairBot / Raspberry Pi

1. Open a new terminal window
2. Ssh onto a raspberry pi

• One of the following commands - the latter if the first does not work right away
  • ssh chairbot01@chairbot01-desktop.local
    • ssh chairbot01@192.168.1.73
  • ssh chairbot02@chairbot02-desktop.local
    • ssh chairbot02@192.168.1.136
  • ssh chairbot03@chairbot03-desktop.local
    • ssh chairbot03@192.168.1.205
  • ssh chairbot04@chairbot04-desktop.local
    • ssh chairbot04@192.168.1.99

3. Enter the password of the raspberry pi

• All current passwords are: raspberry

4. If the inet IP address of the raspberry pi is unknown

• Run the command: sudo ifconfig
• Locate the inet addr of wlan0

5. Run the commands:

• source ~/catkin_ws/devel/setup.bash
• export ROS_IP=192.168.1.73 (local inet IP address)
• export ROS_MASTER_URI=http://192.168.1.64:11311 (IP address of computer)

6. Run the desired launch file

• Ex: roslaunch neato_node sub.launch
• Choose from this list under ChairBot / Raspberry Pi