Launch files for HERB.
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README.md

herb_launch

Launch files and scripts for HERB.

Using start scripts

HERB0

In order to load all ROS nodes for demo, on HERB0, run

scripts/start_herb_all.sh

This script will start all ROS nodes on herb machines. (Four tmux sessions on herb0: roscore, ros_control, talker, and state_publisher. Five tmux sessions on herb2: multisense, apriltags, rcnn_moped, schunk_neck, and neck_simple.)

If you want to start HERB0 only, run

scripts/start_herb0_tmux.sh

This script will load roscore, ros_control, and state_publisher in tmux sessions.

HERB2

If you successfully run start_herb_all.sh script, all ROS nodes on herb2 should be loaded. Check tmux sessions with tmux ls before running the start script on herb2.

On HERB2, run

scripts/start_herb2_tmux.sh

This script will load multisense, apriltags, rcnn_moped, schunk_neck, and neck_simple in tmux sessions.

Load launch files separately

source $(catkin locate)/devel/setup.bash
roslaunch herb_launch <file_name.launch>

Initialize WAM controllers

Check this document on pr_docs/Starting Herb.

Etc.

Using tmux

  • list sessions: tmux ls

  • open a new session: tmux new -s <session name>

  • attach to a session: tmux a -t <session name>

  • start scrolling in a session: <ctrl + b> + [ and move cursor

  • stop scrolling: press q or esc in scrolling mode

  • detach from a session: <ctrl + b> + d

  • kill all sessions: pkill -f tmux

Syncing time on HERB machines

To sync time on Herb machines, run:

sudo sntp -s 0.us.pool.ntp.org
sudo ntpd -q

on each Herb machine.