2 Raspberry & Spatula Encoder setup

Steps to get working the 2 raspberry setup

&

Adding the spatula pos node:

0) Make sure both devices can ssh each other without the need of a password:
	http://www.linuxproblem.org/art_9.html

MAIN PC STEPS:

1) At main PC: Edit Connections -> Simulate Robot Network -> IPv4 Settings (Manual, Adress: 192.168.37.2, Netmask: 24) & Disconnect and reconnect to Simulate Robot Network

2) At main PC: Terminal: nano /etc/hosts
	add:
		(raspberry pi 2 IP)	 (raspberry2 name)
	ex:
		192.168.37.5	raspberry2
	(you can get the IP from the raspberry typing: sudo ifconfig at the raspberry terminal and looking at eth0)

3) At main PC: Terminal: export ROS_MASTER_URI=http://mcube-020:11311/ (maybe this should be changed in the arc_env.sh script)

4) At main PC: Go to /home/mcube/rgrasp/catkin_ws/src/apc_config/launch
	4.1) Make sure robot_config.launch file has the raspberry2 options (if not, overwrite it with the one attached)
	4.2) Make sure you have the updated versions of raspberry.launch & raspberry2.launch files in this folder too (here attached), which run the spatula node and all the previous ones.

5) At main PC: Make sure you have the updated version of arc.pmd/rgrasp.pmd that has raspberry2 options (here attached)

RASPBERRY STEPS:

1) At raspberry: Make sure spatula_pos.py & spatula_publisher.py files are in the raspberries under the folder:
	suction_ws/src/suction/scripts

2) At raspberry: Terminal: nano /etc/hosts
	add:
		(raspberry pi 2 self IP)  (raspberry2 name)
		(main PC IP)	 (main PC name)
	ex:
		192.0.1.1	raspberry2
		192.168.37.2	mcube-020
	(you can get the IP from the main PC typing: sudo ifconfig at the main PC terminal and looking at eth0)

3) At raspberry: Terminal: nano suction_env.sh
	Make sure it looks like this:

		#!/bin/bash
		echo "suction environment executed"
		. ~/suction_ws/devel/setup.bash
		export ROS_IP=192.168.37.5
		export ROS_MASTER_URI=http://mcube-020:11311/
		export ROS_HOSTNAME=raspberry2
		export ROSLAUNCH_SSH_UNKNOWN=1

		PROMPT_COMMAND='history -a'
		history -a

		# sorting in old style
		LC_COLLATE="C"
		export LC_COLLATE
		ulimit -c unlimited
		export HISTTIMEFORMAT="%d/%m/%y %T "

NOTE: TODOS:

1. Do we want gs_deflection and gs_contact_area? If not we should comment the code
2. We'll need to edit raspberry2 scripts so that all the nodes that it publishes are the same as the first raspberry but adding a "2". Idea: Raspberry publishes in topics: gs_image, spatula_pos Raspberry2 publishes in topics: gs_image2, spatula_pos2

If you're looking at ROS tutorials: Equivalence with ROS multimachine tutorial marvin = [email protected] hal = [email protected]