Jim Wright, ROS

unknown
roslaunch thor_robot_launch thor_launch.launch use_uwb:=false mapping:=true
roslaunch thor_robot_launch thor_launch.launch use_uwb:=false mapping:=false
roslaunch harmony_state_machine harmony.launch  use_uwb:=false mapping:=false



rosbag record -O subset /vectornav/data /velodyne_points /scan /tf /odometry/filtered /map
rosbag record -O imudata /vectornav/data /scan /tf /odometry/filtered /map /robot_pose /vectornav/data

rosrun smach_viewer smach_viewer.py

catkin_make install
catkin_make --only-pkg-with-deps {target}
catkin_make --only-pkg-with-deps indoor_outdoor_state_machine
catkin_make --only-pkg-with-deps nmea_navsat_driver
catkin_make --only-pkg-with-deps rr_openrover_basic

cu -l /dev/ttyACM0 -s 9600

Fresh
Grover 
export ROS_MASTER_URI=http://192.168.7.117:11311
export ROS_IP=192.168.7.117

My
export ROS_MASTER_URI=http://192.168.7.117:11311
export ROS_IP=192.168.7.113


Just me
export ROS_MASTER_URI=http://192.168.6.181:11311
export ROS_IP=192.168.6.xxx


Shop2
Grover
export ROS_MASTER_URI=http://192.168.1.143:11311
export ROS_IP=192.168.1.143

My
export ROS_MASTER_URI=http://192.168.1.143:11311
export ROS_IP=192.168.1.181




Just me
Home
export ROS_MASTER_URI=http://192.168.143.65:11311
export ROS_IP=192.168.143.65

Home Grover
export ROS_MASTER_URI=http://192.168.143.73:11311
export ROS_IP=192.168.143.73

Home My
export ROS_MASTER_URI=http://192.168.143.65:11311
export ROS_IP=192.168.143.65


-6.524 1.594 -0.005 [frame=map]

Lobby:
[ INFO] [1638225353.677834454]: Setting goal: Frame:map, Position(-6.790, -6.113, 0.000), Orientation(0.000, 0.000, 0.000, 1.000) = Angle: 0.000
[ INFO] [1638225387.774346610]: Setting goal: Frame:map, Position(-12.036, 1.624, 0.000), Orientation(0.000, 0.000, 0.980, 0.198) = Angle: 2.742
[ INFO] [1638225401.995534170]: Setting goal: Frame:map, Position(2.088, 31.401, 0.000), Orientation(0.000, 0.000, 0.870, -0.492) = Angle: -2.112
[ INFO] [1638225408.966188672]: Setting goal: Frame:map, Position(-2.479, 17.525, 0.000), Orientation(0.000, 0.000, 0.987, 0.161) = Angle: 2.818
[ INFO] [1638225470.146742114]: Setting goal: Frame:map, Position(18.840, 32.131, 0.000), Orientation(0.000, 0.000, -0.724, 0.690) = Angle: -1.619


rostopic pub --once /move_base_simple/goal geometry_msgs/PoseStamped "header:
  seq: 0
  stamp:
    secs: 0
    nsecs: 0
  frame_id: 'map'
pose:
  position:
    x: -3.0
    y: 1.6
    z: 0.0
  orientation:
    x: 0.0
    y: 0.0
    z: 0.00751263208428
    w: 0.999971779781"



rostopic pub --once /move_base_simple/goal geometry_msgs/PoseStamped "header:
seq: 0
stamp:
	secs: 0
	nsecs: 0
frame_id: 'map'
pose:
position:
	x: -6.0
	y: 1.6
	z: 0.0
orientation:
	x: 0.0
	y: 0.0
	z: 0.00751263208428
	w: 0.999971779781"



	rostopic pub --once /move_base_simple/goal geometry_msgs/PoseStamped "header:
	seq: 0
	stamp:
	  secs: 0
	  nsecs: 0
	frame_id: 'map'
  pose:
	position:
	  x: -4.0
	  y: 1.6
	  z: 0.0
	orientation:
	  x: 0.0
	  y: 0.0
	  z: 0.0
	  w: 1.0"
  
  
rqt_graph
rqt
sudo apt-get install ros-melodic-rqt ros-melodic-rqt-common-plugins
sudo apt-get install ros-melodic-rqt-robot-plugins



/aruco_detect
/auto_dock
/camera/realsense2_camera
/camera/realsense2_camera_manager
/ekf_se
/gauge_node
/gauge_task_manager_node
/global_costmap/map_server
/joy_node
/move_base_flex
/offline_handler
/pose_publisher
/robot_state_publisher
/rosout
/rr_control_input_manager_node
/rr_openrover_basic
/rr_openrover_diagnostics_node
/rr_xbox_mapper_node
/slam_toolbox_localizer
/vectornav
/velodyne_nodelet_manager
/velodyne_nodelet_manager_cloud
/velodyne_nodelet_manager_driver
/velodyne_nodelet_manager_laserscan


rostopic pub --once /lidar_move_goal geometry_msgs/PoseStamped "header:
  seq: 0
  stamp:
    secs: 0
    nsecs: 0
  frame_id: 'map'
pose:
  position:
    x: -3.0
    y: 1.6
    z: 0.0
  orientation:
    x: 0.0
    y: 0.0
    z: 0.00751263208428
    w: 0.999971779781"

rostopic pub --once /lidar_goal geometry_msgs/PoseStamped "header:
	seq: 0
	stamp:
	  secs: 0
	  nsecs: 0
	frame_id: 'map'
  pose:
	position:
	  x: -3.0
	  y: 1.6
	  z: 0.0
	orientation:
	  x: 0.0
	  y: 0.0
	  z: 0.00751263208428
	  w: 0.999971779781"
  
rostopic pub --once /gps_goal sensor_msgs/NavSatFix "header: 
	seq: 148
	stamp: 
	  secs: 1640123588
	  nsecs: 163616895
	frame_id: "/gps"
  status: 
	status: 1
	service: 1
  latitude: 47.6843085
  longitude: -122.0391085
  altitude: 149.0
  position_covariance: [0.30250000000000005, 0.0, 0.0, 0.0, 0.30250000000000005, 0.0, 0.0, 0.0, 1.2100000000000002]
  position_covariance_type: 1"

rostopic pub --once /gps_goal sensor_msgs/NavSatFix "header:
  seq: 0
  stamp: {secs: 1640123588, nsecs: 1640123588}
  frame_id: '/gps'
status: {status: 1, service: 1}
latitude: 47.6843085
longitude: -122.0391085
altitude: 149.0
position_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
position_covariance_type: 0" 


rostopic pub --once /gps_goal sensor_msgs/NavSatFix "header: 
	seq: 148
	stamp: 
	  secs: 1640123588
	  nsecs: 163616895
	frame_id: "/gps"
  status: 
	status: 1
	service: 1
  latitude: 47.6843085
  longitude: -122.0391085
  altitude: 149.0
  position_covariance: [0.30250000000000005, 0.0, 0.0, 0.0, 0.30250000000000005, 0.0, 0.0, 0.0, 1.2100000000000002]
  position_covariance_type: 1"