Setup

Connect to turtlebot in two terminals

ssh -X -L 8888:localhost:8888 username@192.168.210.xx

To install jupyter notebook:

pip3 install notebook

Run this in your first terminal

mount /local
singularity shell /local/robolab_noetic_2022-03-31.simg
source /opt/ros/lar/setup.bash
roslaunch robolab_turtlebot bringup_realsense_D435.launch # for turtle08-13

Run this in your second terminal

singularity shell /local/robolab_noetic_2022-03-31.simg
source /opt/ros/lar/setup.bash
cd && mkdir lar && cd lar
git clone https://github.com/basta/LAR.git --branch final_task2
~/.local/bin/jupyter-notebook --NotebookApp.token='' --NotebookApp.password=''

Finite-State-Machine architecture for Task 2