QB Robotics qbmove Advanced Kit, User Manual

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28 aprile 2021
where <robot_config> is the name of the kinematic configuration
you have chosen. The command can be run both via ssh via
computer and by connecting the module to a monitor via HDMI
cable. In the first case you have to run the command:
ssh pi@192.168.1.130
and type in the password “
qbrobotics
”;
3. wait for robot starting.
•
Computer side(LINUX only) : first of all you have to download and install
qbdevice , qbmove and qbchain packages and then. If your packages are
updated to the latest version, at path
“qbchain
-
ros/qb_chain_control/scripts”
you can find a shell script named
qb_control_chain.sh . It is very important to control the kinematic chain
remotely.
IMPORTANT
Once the procedure is complete, before you proceed with the next steps
you have to edit the
qb_control_chain.sh.sh file in order to specify your IP.
So edit
the line “
ROS_IP=192.168.X.XX
” and insert the IP of your computer.
You can find it typing from terminal the command ipconfig .
Now follow these steps:
1. Connect to the WI-
FI network “
qbRPi4-hub
”
(password
“
qbrobotics
”).
2. from terminal move to the folder in which you have the shell script
qb_control_chain.sh and run the command:
./
qb_control_chain.sh
-a <
robot_config
>
Ensure that < robot_config > is the same that you select in qb
control command.
Now a rviz session starts, showing the desired robot. You can interact with it using interactive
markers wirelessly.
In addition to rviz, you can also exploit the others ways to
interact with robot . You just need to
execute in the terminal:
export ROS_IP=192.168.X.XX (*)
export ROS_MASTER_URI=http://192.168.1.130:11311