Tutorials related with configuration¶
This set of tutorials covers some configuration procedures that are useful for working with the developed system. This tutorial assumes that the autonomous_bicycle project was successfully installed, compiled and tested according to the installation guide.
How to configure GPS receivers¶
By default, both GPS receivers work at 1 HZ and a serial baud rate of 9600 bps, but this is too slow for our application, it is possible to increase this setup using the a provided launch file.
Please check before that both GPSs are available on ports GPS_front_port and GPS_rear_port given on the launch file.
cd ~/Documents/code/autonomous_bicycle source devel/setup.bash roslaunch autonomous_bicycle config_GPS_sensors.launch
If the process ends correctly, both GPS will work at 5 Hz and a serial baud rate of 115200 bps
Important: The measurement system assumes that both GPS are properly configured, if you get a red color for GPS data on the web interface, it might be caused by misconfiguration of the receivers. Please run again the configuration steps.
How to enable/disable service for auto-starting¶
It is possible to run the init ROS launch file at boot time, using ubuntu services.
To create a service that executes automatically the launch file for initialization, we are going to use robot_upstart package available on:
The first step is to install robot_upstart (in case it is not already installed) by typing:
sudo apt-get install ros-kinetic-robot-upstart
Then, create an empty package with a launch file that calls the initialization launch file of the bicycle. It is possible to copy an existing robot_starter package. Once the package is installed, run the following command line for creating and installing the ubuntu service:
cd ~/autonomous_bicycle_ws source devel/setup.bash rosrun robot_upstart install robot_starter/launch/robot_starter.launch
Please notice that you also should run the command returned as output from the robot_upstart installation.
Following with the process, modify the ROS_IP and ROS_MASTER_URI variables for the new service by typing:
sudo nano /usr/sbin/robot-start
Add or change the following lines:
export ROS_IP=192.168.1.201 export ROS_MASTER_URI=127.0.0.1
And comment out (using #) the line that defines the ROS_HOSTNAME
# export ROS_HOSTNAME=localhost
Finally, you can start or stop the service using:
sudo service robot start sudo service robot stop
The new service will be executed automatically on the next boot.
Important: The service runs the launch file using a different user, it is necessary to grant rights if you are going to use nodes that requires root access. Please check Frequent questions section for more information.
How to update documentation files¶
The documentation uses python sphinx
It is possible to add new sections or modify existing ones by following the tutorials given on:
You can build again the documentation by typing:
cd ~/autonomous_bicycle_ws/src/autonomous_bicycle/docs make html
If you want to visualize the results, please open the file index.html on a web browser.
Github and Read the docs offers a suitable way to update automatically the documentation on-line at each commit-push.