Dashgo Robotic Platform SDK

Install & Run

1. Clone the source codes

   • file structure:

     • ${HOME}/Workspace/dashgo_ws for this repo. This is a catkin ws.
     • ${HOME}/Workspace/rosweb_ws for the web controller.

     note: Foler paths are mounted in docker run params, if you really need to change the paths, change the host paths in the mounting options in Makefile

   1. cd ${HOME}/Workspace/
   2. git clone git@github.com:LXYYY/dashgo.git dashgo_ws/src/dashgo
   3. git clone git@github.com:LXYYY/rosweb_controller.git rosweb_ws

2. Install docker. Since the source code provided is based on Ubuntu14, also tested on 16, anyway it's better to use it inside a docker.

3. Compile the docker

   cd dashgo
   git submodule update --init --recursive
   cd dashgo_docker && make build
   

4. compile the dashgo driver inside docker

   cd dashgo_docker && make attach
   # now you inside docker
   cd ${HOME}/Workspace/dashgo_ws
   catkin init
   catkin config --extend /opt/ros/kinetic --merge-devel 
   catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release
   catkin build dashgo_driver
   

5. Run the nodes

   cd dashgo_docker && sh dashgo_startup_host.sh # run this outside docker and this will also start the web controller
   

Web Controller (really rough)

(inside docker)

1. Install modules of the website using npm, by npm install or something, I can't remember, look it up!
2. Change the ip of the robot manually, here. I know this is really stupid, maybe change it to 0.0.0.0 will be a good idea. And you can change speed limit here.
3. Then find a cellphone, open a browser. Only works on some old browser, i.e. Edge, or some android-built-in browser. Chrome, Firefox, Safari... None of them can work
4. Open the address <RobotIP>:8000, and change the rosbridge address on the website to the address in Step 2. 8000 is the http port for the website, 9090 you will find in Step 2 is the rosbridge port for control.
5. Click Connect, and use the on-screen joystick to control. The joystick is not very handy, need some practice.

Pain in the ass:

1. Change ip every time connected to a new network.