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Quick Commands

Here are some command commands that allow you to quickly start and do different tasks. Each of theses sets of commands are in a code block and each line of code should be run in a different terminal.

SLAM

ros2 launch locker98_tools_bringup husky.slam.launch.py setup_path:=$HOME/husky1/
ros2 launch clearpath_viz view_navigation.launch.py namespace:=a200_0000

# Saving map
ros2 run nav2_map_server map_save_cli -f path/to/map -t /a200_0651/map

ros2 launch locker98_tools_bringup husky.localization.launch.py setup_path:=$HOME/husky1/ map:=$HOME/husky1/rhodes1.yaml
ros2 launch locker98_tools_bringup husky.nav2.launch.py setup_path:=$HOME/husky1/
ros2 launch clearpath_viz view_navigation.launch.py namespace:=a200_0000

Editing JSON Map

ros2 launch person_follower_bringup follow_person.launch.py follow_default:=True

Voice Assistant Without Robotic Arm

ros2 launch voice_assistant_bringup voice_assistant.launch.py namespace:=a200_0000 location_file:=$HOME/husky_configs/maps/rhodes2_full.json enable_arm:=False

Voice Assistant With Robotic Arm

ros2 launch voice_assistant_bringup voice_assistant.launch.py namespace:=a200_0000  location_file:=$HOME/husky_configs/maps/rhodes2_full.json

Voice Assistant Adding Nav2

To add Nav2 to husky with voice just run this command with the either the voice assistant with or without arm. 

ros2 launch locker98_tools_bringup husky.localization.launch.py setup_path:=$HOME/husky1/ map:=$HOME/husky1/rhodes1.yaml
ros2 launch locker98_tools_bringup husky.nav2.launch.py setup_path:=$HOME/husky1/
ros2 launch clearpath_viz view_navigation.launch.py namespace:=a200_0000

Voice Assistant Adding Follow Person

To add person following to husky with voice just run this command with the either the voice assistant with or without arm. 

ros2 launch person_follower_bringup follow_person.launch.py follow_default:=False

Following Person

ros2 launch person_follower_bringup follow_person.launch.py follow_default:=True

PS4 Program

ros2 run locker98_tools joy_node --ros-args -p namespace:=/a200_0934

Robotic Arm

ros2 run locker98_tools move_arm

# Run this command to send actons to the arm. The Commands are the standard UR Dashboard commands
ros2 service call /move_arm locker98_interfaces/srv/RobotArm "{command: 'power on'}"