The pacakges of this workshop has been installed on husky on board computer. In order to access the machine you have to have openssh server installed.
To install openssh-server
sudo apt install openssh-server
tmux is a terminal multiplexer for Unix-like operating systems. It enables users to create and manage multiple terminal sessions within a single terminal window or remote terminal. With tmux, you can divide your terminal into panes, each displaying its own terminal session or command-line interface. This allows you to multitask, run commands simultaneously, and organize your workflow efficiently.
- Connect to the iaac_husky hotspot (WIFI password: EnterIaac22@)
- Open a terminal in your computer and ssh to the husky (user password: iaac)
- Use tmux as the terminal on husky robot
tmux new -s husky - launch the ros2 nodes for mobile base (first tmux terminal)
ros2 launch /etc/clearpath/platform/launch/platform-service.launch.py - launch the ros2 nodes for lidar (second tmux terminal)
ros2 launch livox_ros_driver2 msg_MID360_launch.py - launch the mapping node (third tmux terminal)
ros2 launch fast_lio mapping.launch.py - launch the usb_cam node to bring up the camera (fourth tmux terminal)
ros2 launch usb_cam camera.launch.py - launch the foxglove bridge for visualization (fifth tmux terminal)
ros2 launch foxglove_bridge foxglove_bridge_launch.xml - Open foxglove-studio and change the web address to 10.42.0.1
- Load the panel from this repository