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Asctec Pelican Basics - Basic WiFi Communication Setup Part 2

This document continues instructions from a previous post on setting up basic WiFi communication between a quadrotor and computer. It describes checking that pinging between the devices works, setting up SSH, mapping IP addresses to hostnames to allow logging into devices without typing IPs, and running ROS nodes on each device to demonstrate communication is working between them. The next steps mentioned are to try running the asctec_mav_framework package on the quadrotor and communicating with it from the groundstation.

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Ahmed Khalifa
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147 views

Asctec Pelican Basics - Basic WiFi Communication Setup Part 2

This document continues instructions from a previous post on setting up basic WiFi communication between a quadrotor and computer. It describes checking that pinging between the devices works, setting up SSH, mapping IP addresses to hostnames to allow logging into devices without typing IPs, and running ROS nodes on each device to demonstrate communication is working between them. The next steps mentioned are to try running the asctec_mav_framework package on the quadrotor and communicating with it from the groundstation.

Uploaded by

Ahmed Khalifa
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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AsctecPelicanBasics
jueves,4dejuliode2013
BasicWiFicommunicationsetuppart2
Thisisacontinuationfromthepreviouspost:http://asctecbasics.blogspot.com/2013/06/basicwifi
communicationsetuppart1.html

TestingeverythingisOK

Archivodelblog
2013(3)
julio(2)
CommunicatingwiththeLLPvia
XBee
BasicWiFicommunicationsetup
part2
junio(1)

First,let'scheckthepreviousstepsareOK.Let'sassumeyouassigned192.168.0.15toyour
computerand192.168.0.16toyourquad.
Fromyourcomputeryoushouldbeabletopingyourquad,runinaterminal:

Datospersonales
Pino

ping 192.168.0.16

ThesameshouldworkfromyourquadtoyourcomputerchangingtheIPaddresscorrespondingly.
SettingupSSH
Thispartisbasedontheinstructionsfoundhere:
http://teamprincipia.wordpress.com/2008/05/29/beginningsshonubuntu/
YouneedtoinstallSSHclientandserveronbothmachines(clientusuallycomeswithUbuntubut
checkingisalwaysgood):

sudo apt-get install openssh-client openssh-server

MappingIPaddressestohostnames
Thispartisbasedoninformationfoundhere:http://nootrix.com/2012/06/rosnetworking/
TheideaistoassociatetheIPaddresstoaname,soitisn'tnecessarytowritetheIPaddress
everytimeyouwishtologinthroughSSH.
Todothis,firsteditthe/etc/hostsfilesonthecomputerbeingusedasgroundstation(assuming
youareusingthesameIPsmentionedbefore):

sudo gedit /etc/hosts

Thenaddthefollowinglineattheendofthefile:

192.168.0.16 quad

Dothesameonthequadrotor,addingthislineinstead:

192.168.0.15 groundstation

Nowyoushouldbeabletoopenaterminalonthecomputerandpingthequadrotorusingthe
followingcommand:

ping quad

Thisshouldhaveasimilarresultasdoingapingfromthequadrotorfromthecomputer.Checkboth
pingsarepossibletobesureeverythingisok.
RunningROS
Aftersettingupsshandmappingthenames,youshouldbeabletorunROSonthequadrotorusing
commandsfromthegroundstation,andstartnodesonthegroundstationtocommunicatewiththe

Vertodomiperfil

quadrotor.
Tocheckthiswewillrunalistenernodeonthequadrotorandtrytocommunicatetoitfromthe
computer.
Youshouldchooseifthegroundstationorthequadrotorwillruntheroscoreservice.Inthiscasethe
quadrotorwillberunningroscore.
Todothis,fromthegroundstationcomputerlogintothequadrotor.Assumingtheusernameonthe
quadrotoris"user",openaterminalonyourcomputerandtype:

ssh user@quad

Yourpasswordwillberequiredforthis.Typeitandnowyoushouldhaveaterminalloggedintothe
quadrotor.Inthisterminaltype:

roscore

Nowrepeatthisprocess,openninganewterminalandloggingintothequadrotorandstartalistener
nodeonittyping:

rosrun rospy_tutorials listener.py

Nowyoushouldsetupthegroundstation.Openanewterminalonyourcomputerandtype:

export ROS_MASTER_URI=http://quad:11311
rosrun rospy_tutorials talker.py

Nowyoushouldseetheansweronthelistenerterminal,showingthecommunicationisworking
betweenboth.
What'snext?
Noweverythingissetup,youshouldtrytoruntheasctec_mav_frameworkpackageonthe
quadrotorandcommunicatetoitfromthegroundstation.

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