rosnmc

Example tools for connecting a ROS-Robot with a NICER-Gateway PC via Serval to the NICER Mobile Cloud. Tested on raspberry pi (raspbian 9.1 stretch) and ubuntu 16.04.

Dependencies & Setup

All involved machines (except robot)

• Installed version of servald http://github.com/servalproject/serval-dna
• ROS python libraries sudo apt install python-geometry-msgs python-rospy python-yaml python-roslib python-rosgraph-msgs

Set serval working directory:

export SERVALINSTANCE_PATH=/tmp/s

Robot

• Install gatling sudo apt-get install gatling

Share output directory where images and sensor data is written.

ROS Gateway (ros-gw)

• Serval shell scripts http://github.com/gh0st42/servalshellscripts
• install ftp fs sudo apt-get install curlftpfs

Set ROS_IP to local IP and ROS_MASTER_URI to robot IP.

export ROS_IP=192.168.1.244
export ROS_MASTER_URI=http://192.168.1.147:11311

Use curlftpfs to mount image directory from robot (curlftpfs 192.168.1.147:2121 ~/mnt/ros).

Client

• pyserval library in PYTHONPATH or installed via pip https://github.com/umr-ds/pyserval

Provided tools

ros-gw/

• execute_ros.py - helper script to execute a ros publish to a topic with serialized ros message object
• chatbot-ng - handle incoming ros commands via meshms
• w_image.sh - monitor a directory for robot images and add each one to mobile cloud
• w_map.sh - monitor a directory for robot map.png and update entry in mobile cloud

client/

• servalros_example.py - set position of robot via ros-over-serval