视频地址:
https://www.youtube.com/watch?v=YsPcElOK-nI&t=1s
https://www.youtube.com/watch?v=-9NHupBPC6Y&t=130s
I example 1:using ros with rosaria and mobilesim
step 1. download rosaria client
cd catkin_ws/src
git clone https://github.com/pengtang/rosaria_client
step 2. complie
cd ..
catkin_make
step 3. open mobilesim
or connect the real robots:
roscore
sudo chmod 777 -R /dev/ttyUSB0
rosrun rosaria RosAria
Note: 关于usb端口使用的详细信息参见上一篇文章
step 4. runrosaria and rosaria_client
way 1: use rosrun to boot up
rosrun rosaria_client interface
way 2 use roslaunch
roslaunch rosaria_client rosaria_client_launcher.launch
II example 2:controling Pioneer 3DX remotely byros withrosaria
1. 准备工作
在台式机和pioneer上的笔记本上分别安装openssh 服务器组件,使台式机能够远程连接笔记本,之后在台式机上的操作等同于在笔记本上的操作。
sudo apt-get update
sudo apt-get install openssh-server
检查服务是否启动:
ps -ef| grep sshd
如果只有ssh-agent那ssh-server还没有启动,
如果看到sshd那说明ssh-server已经启动了。
Note:若出现问题,参考相关网页:
https://help.ubuntu.com/lts/serverguide/openssh-server.html
http://blog.csdn.net/woshicsdn7547/article/details/11561099
http://jingyan.baidu.com/article/00a07f38a5c05482d128dc5f.html
http://os.51cto.com/art/201104/256070.htm
http://www.jb51.net/article/94599.htm
https://askubuntu.com/questions/144364/ssh-connect-to-host-myremotehost-com-port-22-connection-refused
2. 在台式机上打开三个终端,分别将三个终端连接到笔记本
ssh your_laptop_username@your_laptop_ip_adress
ssh [email protected]