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Straightmiro

--------------------ENRICO BORELLO's note--------------------------

-------------position of miro by motion capture------

the straight.py node subscrive a node that should publish in this way -rostopic echo /miro/pose

--------------------mirosetup----------------------------- follow this step

-Connect the miro with smarthone

-with the app put the miro in normal mode

-enable the bridge

  • write in the terminal of your computer the ip of miro that you can see in the app ssh root@hereputtheIPofmiroapp

-digit the password MIROOpen1

  • write sudo nano ~/.profile

-write your IP in the file in a line with: #.. bla bla (line simply for your reference) #.. bla bla (line simply for your reference) #.. bla bla (line simply for your reference) ROS_MASTER= putyourip

-save and exit from the miro room, you can do date writing: exit

-------------see if you are connectend with the miro--------

-enter in the folder where you dowload the miro file, if you dont already do that ->(http://labs.consequentialrobotics.com/miro/mdk/) ~/lib/mdk/bin/shared (in my case)

-write this in your terminal

  • ./miro_ros_client_gui.py robot=rob01

-you should see what miro see.

-IF NOT

put miro in demo mode using your smartphone, and again in normal mode.

----------------lauch the program---------- -you can lauch all the three node: roslaunch straightmiro miro.launch

-or run a single node using rosrun straightmiro nameofthenode.py

----------set_goal.py------------------ Parameter Server is used for set the global parameters that we need for lauch the nodes.

set_goal.py declares and set the parameters

---------------------Stright miro-------------

miro should be able to follow a straight line given a goal position

-depending from how you take the miro position you could have problem of orientation.

-in the code the is a commented part that should be able to fix miro position if it go out from the straight line( for example if there is a note regual ground)

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  • Python 71.4%
  • CMake 28.6%