herb_launch

Launch files and scripts for HERB.

Using start scripts

HERB2

In order to load all ROS nodes for demo, on HERB2, run

scripts/start_herb_all.sh

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

If you want to start HERB2 only, run

scripts/start_herb2_tmux.sh

HERB0

If you successfully run start_herb_all.sh script, ros_control on herb0 should be loaded. Check tmux sessions with tmux ls before running the start script on herb0.

On HERB0, run

scripts/start_herb0_tmux.sh

This script will load ros_control 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.