Basic understanding of how ros works

asked 2016-04-13 05:38:23 -0600

Markus
311 ●42 ●55 ●54

updated 2016-04-13 07:19:01 -0600

Hey I am quite new and I just want to ask how I install ROS and use it.

(General about ROS) E.g. I would like to install ROS on Linux Ubuntu 14.04 an Intel nuc board which is equipped with a wifi card. Now my question is:

(1) Is it possible to control ROS running on this intel nuc board with another PC via WIFI connection? (2) Can you send me a Link where I can find a description of how to do that? (3) Do you know if there is another good method controling ROS through space?

(4) Another question is: DO I alwayse have to start the roscore and the ros nodes running on the inteln nuc board with Ubuntu manually each time, or is there something like an option to install ROS as an Operating system such as windows or Ubuntu that the ros core starts right after pressing the start button.

(in particular what I want to do:) More detailed explanation of what I want to do: The main goal of my project is to determine very precisely the baseline(geometric distance) between a Rover(Quadrocopter) and a base station. Therefore I am looking around what the best hardware upset is and how to do that. My suggestions is:

Rover: I would like to buy an Intel nuc board (e.g:NUC5i5MYBE ) and run Ubuntu 14.04 on it. Then I would like to install ROS on it. Thereby I would like to install the RTKLIB package on ROS. Then I would like to connect this INTEL Nuc board with my quadrocopter controller by a serial port. The quadrocopter controller is connected to a u-blox: Neo M8T receiver (by UART?, USB?) (which is itself connected to a antenna). The quadrocopter is the rover.

Base station: As a base station(which is fixed) I want to use just another NEO M8T reciever. Note that the quadrocopter is flying (not fixed) in a range of max. 2km away from the fixed base station.

Goals to achieve: Controling the Quad through the base station. Accurately determing its position. In the feature it should also be controlled some sensors connected to the intel nuc board. image description

(5) What will be a good way to connect the NEO M8T receiver to the intel nuc board? (By UART?, USB?, SPI; DDC port). (6) Does anyone have some experienc with baud rates that RTKLIB (using the ROS package) needs to calculate in real-time a centimiter-level precise baseline. I mean what rate of bits have to be send over the UART or USB port between the receiver and the rover in what time to achieve such an accuracy. Is the NEO M8T a usefull receiver to accomplish this goal? (7) What is a good way to connect the base station with the rover. What kind of Data Link would you suggest I should use? One example would be using another PC as a base station, and running a STRSVR Server on this base ... (more)

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Are you familiar with the piksi from swiftnav? It might make things easier for you. I believe people have used it with the pixhawk.

Airuno2L ( 2016-04-13 08:21:12 -0600 )edit

Also, you might want to consider writing up a new question to capture the new information since it is pretty specific and people who know a lot about the problem won't know to look here with the current title of the question.

Airuno2L ( 2016-04-13 08:23:27 -0600 )edit

Thanks :).

Markus ( 2016-04-14 08:54:13 -0600 )edit

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answered 2016-04-13 06:37:03 -0600

Airuno2L

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updated 2016-04-13 06:42:38 -0600

1) ROS runs great on Intel nucs and it is possible to control it over a WiFi connection from another PC.

2) If you haven't done it yet, you'll want to go through the basic tutorials to learn about ROS a bit before moving forward. Here is a link to those tutorials. Once you understand the majority of those, go through this tutorial which shows how to setup ROS to run over multiple machines.

3) It really depends on what you are trying to do. If you have a nuc with ROS installed on a robot, and just need a way to start ROS - you don't even really need a 2nd computer, you can set your launch file to start when the robot starts (I mention how below). If you do have a second computer, but it doesn't need to have ROS installed, you can just use something like SSH to access the nuc from the second computer. If you just need to send the nuc some kind of commands you can just use a bluetooth controller like the playstation one also. Lastly, if you really do need the 2nd computer to run ROS, you'll want to use the method described in the above tutorial. It really just depends on what you are trying to do - feel free to edit you're question with more detail if needed.

4) roscore needs to run on one computer on the network - it can be a 2nd computer, or the nuc. You don't have to start it manually though, in Ubuntu you can go to "Startup Applications" and add a command (such as roslaunch myProject myLaunchFile.launch) and it will start automatically when the computer starts. ROS isn't a "real" operating system like Ubuntu or Windows - it needs to run on a real operating system.

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