# tsp_upper

**Repository Path**: tsprobot/tsp_upper

## Basic Information

- **Project Name**: tsp_upper
- **Description**: tsp上层主控
- **Primary Language**: C++
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 2
- **Forks**: 0
- **Created**: 2024-03-30
- **Last Updated**: 2024-11-16

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# tsp_upper

### 1.系统配置
- 系统:ubuntu 20.04
- 机器名:nx1
- 用户名:robot
- 密码:1
- 电压:12V
- 连接显示器，键盘鼠标
- 通过网线连接tsp路由器，不能使用无线
- 设置固定ip为192.168.2.100
- 设置将用户改为自动登陆

配置.bashrc
```bash
if [ "$(cat ~/.bashrc | grep /opt/ros/noetic/setup.bash)" == "" ]; then
  echo source /opt/ros/noetic/setup.bash >> ~/.bashrc
fi

if [ "$(cat ~/.bashrc | grep catkin_ws/devel/setup.bash)" == "" ]; then
  echo source ${HOME}/catkin_ws/devel/setup.bash >> ~/.bashrc
fi

if [ "$(cat ~/.bashrc | grep ROS_HOSTNAME)" == "" ]; then
  echo export ROS_HOSTNAME=192.168.2.100 >> ~/.bashrc
fi

if [ "$(cat ~/.bashrc | grep ROS_MASTER_URI)" == "" ]; then
  echo export ROS_MASTER_URI=http://192.168.2.101:11311 >> ~/.bashrc
fi

source ~/.bashrc
#测试连通
ping 192.168.2.101

#测试ROS互联
rosrun rospy_tutorials listener.py
rosnode list
rostopic list
```

### 2.笔记本远程连接
```bash
#笔记本通过无线连接tsp路由器，SSID为TSP5
#vscode安装remote ssh插件，配置中填写下面内容
Host tsp_upper.local
  HostName 192.168.2.100
  User robot
  port 22
  ForwardX11 yes
  ForwardX11Trusted yes
  ForwardAgent yes
```

### 3.设备号固定和自动启动
```bash
#下载机器人功能包
git clone https://gitee.com/linuxfly/tsp_upper.git ~/tsp/tsp_upper
git clone https://gitee.com/linuxfly/tsp_common.git ~/tsp/tsp_common

#编辑并确认udev设置
code ~/tsp/tsp_upper/set_udev_rules.sh

#执行并重启
sudo ~/tsp/tsp_upper/./set_udev_rules.sh
ls /etc/udev/rules.d/
sudo reboot

#观察设备号是否固定
ls -l /dev/xxx        #u2d2适配器
ls -l /dev/xxx        #RealSense D435i前向深度相机
ls -l /dev/xxx        #fdilink_ahrs姿态传感器
ls -l /dev/xxx        #罗技f710手柄无线适配器

cp ~/tsp/tsp_upper/tsp_upper_autostart.desktop ~/.config/autostart/
#重启或注销查看
```

### 4.编译运行
```bash
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
catkin_init_workspace
git clone -b ros1-legacy https://github.com/IntelRealSense/realsense-ros.git
git clone https://gitee.com/linuxfly/fdilink_ahrs
mv ~/tsp .
cd ~/catkin_ws
catkin_make
~/catkin_ws/src/tsp/tsp_upper/.run_all.sh
```


### 5.镜像部署和远程连接(非必要)
```bash
#下载机器人功能包
git clone https://gitee.com/linuxfly/tsp_dockerfile.git ~/tsp/tsp_dockerfile

#编译镜像
~/tsp/tsp_dockerfile/./build.sh ros-noetic
~/tsp/tsp_dockerfile/./build.sh upper-ros-noetic

#修改宿主机hosts文件，添加tsp-upper主机名
if [ "$(cat /etc/hosts | grep tsp-upper)" == "" ]; then
  sudo /bin/bash -c "echo 127.0.1.1 tsp-upper >> /etc/hosts"
fi

#运行镜像
python3 ~/tsp/tsp_dockerfile/run.py upper-ros-noetic

#远程开发笔记本配置提示信息
python3 ~/tsp/tsp_dockerfile/run.py upper-ros-noetic -ou

#vscode安装remote ssh插件，根据上面的提示信息配置连接

#vscode 连接容器后测试编译
cd ~/catkin_ws
catkin_make
```

### f710手柄测试
![avatar](tsp_gamepad/f710_usage.png)
```bash
roslaunch tsp_gamepad f710.launch

#注意：mode绿灯熄灭时换向和调速才起作用
```

### 旋转电机节点测试
```bash
roslaunch tsp_rotator rotator.launch

#重设电机需要下载安装DYNAMIXEL Wizard
#https://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_wizard2/
```

### fdilink_ahrs测试
```bash
roslaunch fdilink_ahrs ahrs_data.launch port:=/dev/fdilink_ahrs ns:=tsp_upper

#该节点和全部话题都带有/tsp_upper前缀
```

### 磁盘空间使用测试
```bash
roslaunch tsp_files disk_info.launch ns:=tsp_upper path:=${HOME}/share
```

### 测试realsense、电机、姿态传感器bag录制
```bash
roslaunch tsp_bag_recorder bag_recorder.launch save_dir:=${HOME}/share prefix:=chongyang topics_file:=${HOME}/catkin_ws/src/tsp_upper/tsp_upper_bringup/record_bags.yaml ns:=tsp_upper

#使用rosnode list查看节点 rosnode info /xxx查看节点发布的话题
#编辑record_bags.yaml文件，配置bag包名和需要录制的topic列表
#永远不使用的话题或者无内容话题可以不录制
```

### gui界面测试
```bash
roslaunch tsp_monitor monitor.launch
```

### bringup测试和全部开启测试
```bash
roslaunch tsp_upper_bringup bringup.launch ns:=tsp_upper save_dir:=${HOME}/share

#编译并测试全部脚本
~/catkin_ws/src/tsp_upper/./test_all.sh
```

### ros常用工具
```bash
rqt_graph
rqt_topic
rosrun rqt_reconfigure rqt_reconfigure
...
```