Running the Repository on Varun

RUNNING THE REPOSITORY

Contributor: Suryansh Agarwal, Arnav Garg

Connect router to the NUC via a LAN cable ( preferably by a short LAN cable) and then connect the router to your laptop by another LAN cable(preferably a shorter one).The NUC should be connected to the appropriate power supply as well as the router.
Switch on the NUC (short press for 2-3 sec.). A blue light should indicate that it is on. Make sure all LAN's are connected properly.
Open a terminal on your laptop and type $ssh -X auviitk@varun.local On being prompted, type the password for the NUC.
After acceptance of password type $gnome-terminal and then press enter.
Increase the number of terminal windows in the new window opened by pressing ctrl+shift+T.
open $roscore in one window.

type $arduino in another window. Arduino ide will open. Go to File-->Sketchbook-->new_arduino.
The code will open in a new arduino window. upload it on the arduino, and minimize the window.
In the new terminal window, type $rosrun rosserial_python serial_node.py /dev/arduino

and press enter.

For the camera : run in a new window $roslaunch hardware_ arduino hardware_nodes.launch This will launch all the nodes.
To see the feed from the front camera, run $rosrun image_view image_view image:=/varun/sensors/front_camera/image_raw
To see the feed from the bottom camera, run $rosrun image_view image_view image:=/varun/sensors/bottom_camera/image_raw

run $rosrun remote_control remote_gui.py in one terminal window and in another run $rosrun remote_control monitor.py Note: you have to run the gui using keyboard(W,A,S,D) and not by mouse.

First, make sure that the rosserial node is running.
Then run $rostopic pub /pwm/forward std_msgs/Int32 -- <pwm_value>
Similarly for sideward and upward replace forward with sideward or upward respectively in the above command.
To stop the thruster break from the command by pressing Ctrl+C and then run the above command with 0 pwm value.
To reverse the direction of the thrusters, enter the pwm value with a minus sign in front.

To view the data being published type the command $rostopic echo /varun/sensors/pressure_sensor/depth and run it.