First open three terminals on your desktop.
Type:
ssh username@c1
You are now logged into the computer on the robot. Then type:
robot users
If no one else is using the robot you can then do:
robot claim
and then:
robot start
After waiting about 30 mseconds for the robot to start type:
roslaunch pr2_pick_main main_prereqs.launch
Type:
setrobot c1
roslaunch pr2_pick_main frontend.launch
Alternatively, if you do not want the RViz visualization, use the following launch instead:
roslaunch pr2_pick_manipulation move_group.launch
Type:
ssh username@c1
If you are exploring action parameters:
rosrun pr2_pick_main main.py --explore
Otherwise, if you are actually collecting data:
rosrun pr2_pick_main main.py
If you would like to start at an arbitrary trial number (e.g. trial 14) to continue a previously started data collection:
rosrun pr2_pick_main main.py --trial_number 14
Open two terminals.
setrobot c1
roslaunch rosbridge_server rosbridge_websocket.launch
setrobot c1
roscd pr2_pick_main/web/web_interface
meteor
Open a browser and point to http://localhost:3000.
Open a terminal and do the following.
ssh username@c1
roscd pr2_pick_contest/
git commit -am "committing new parameters"
git push
Open a terminal and do the following.
ssh username@c1
roscd pr2_pick_main/data/experiments/
git add *.bag
git commit -am "adding next batch of collected data"
git push
On every computer you are using (c1, desktop, laptop) do:
roscd push_pull
git pull
cd ../../../
catkin_make
Ctrl + C all terminal windows. On one of the terminals that was ssh'ed to c1 do:
robot stop
robot release