Cheatsheet

ROS

Stack

ros2 launch mep3_bringup robot_launch.py color:=purple namespace:=big bt:=false nav:=false regulator:=false strategy:=first_strategy

While testing there is no need to run the whole ROS stack, it is safer and faster. For example, if you are testing the motion then you can turn off the behavior tree (bt:=false). Or, if you are testing a strategy with servos only then you don't need the navigation (nav:=false regulator:=false).

Strategy

Mounting the strategy folder is probably the easiest approach to change a strategy:

nautilus sftp://[email protected]/home/ubuntu/ros2_ws/src/mep3/mep3_behavior_tree/assets/strategies

The command should open Nautilus (a file explorer) with all available strategies. To execute the strategy run the robot_launch.py file (the command in the previous section).

Linux

Change Hostname

hostnamectl set-hostname $NEW_HOSTNAME
hostnamectl

Manage Users

sudo useradd --create-home $NEW_USERNAME
sudo passwd $NEW_USERNAME

Configure WiFi

sudo vim /etc/netplan/*.yaml
sudo netplan apply

Authentification

You don't need a password to login into a Raspberry Pi, you can use a public-private key pair. Append the content of the ~/.ssh/id_rsa.pub file (host) to the ~/.ssh/authorized_keys file (Raspberry Pi).