How to get Jackal clearpath running outdoors?

asked 2018-07-19 03:54:02 -0500

dkrivet gravatar image

I am using a clearpath jackal robot which I am running the nav stack on to do slam_gmapping and amcl localization. Currently I ssh into the jackal over wifi to run the nav stack on the robot, but I am now wanting to do autonomous navigation in an outdoors environment. Does anyone have any idea how I would be able to do autonomous navigation outside where I will not have access to a wifi network? Any help would be much appreciated, I am very new to ROS. Thank you!

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Has anyone tried using conman to host an access point? The tutorial says it is experimental and I may have to flash jackal back to factory state so I am a bit worried about it.

dkrivet gravatar image dkrivet  ( 2018-07-19 04:16:13 -0500 )edit

Could you not take a 12v battery and a small wifi router with you so you have a wifi network with you wherever you go?

PeteBlackerThe3rd gravatar image PeteBlackerThe3rd  ( 2018-07-19 05:24:03 -0500 )edit

I am using it for a while now, it's pretty handy that you can just turn on jackal and ssh into jackal's network and play around.

Choco93 gravatar image Choco93  ( 2018-07-19 05:35:53 -0500 )edit

Ahh thats a good idea. Thank you very much! Although now for some reason gmapping and amcl do not seem to be working properly indoors either so I need to sort that out first ahah

dkrivet gravatar image dkrivet  ( 2018-07-19 05:37:43 -0500 )edit

In a pinch you can use your laptop as a wireless hotspot that the Jackal connects to. Also keep in mind that if you use Jackal to create the hotspot, you will not be able to connect to the internet through wifi, not easily at least. So exposing the ethernet ports so they are easy to acces is good.

Reamees gravatar image Reamees  ( 2018-07-20 01:22:47 -0500 )edit

Can't you just insert an USB-WLAN-Stick and run hostapd on the jackal?

Humpelstilzchen gravatar image Humpelstilzchen  ( 2018-07-20 02:35:37 -0500 )edit

Thank you for the suggestions guys! What I've ended up doing is using a wifi router as a repeater to amplify the wifi signal from inside and that has worked.

dkrivet gravatar image dkrivet  ( 2018-07-20 03:06:32 -0500 )edit