HRL PR2 Setup

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Software

  • Currently running ROS Fuerte on Ubuntu 10.04 LTS (Lucid).
  • The web interface (linked here) can be accessed with the usual user name and password. Note that it only works for computers in the HSI network.
  • the package gt_pr2 is the correct place to put customized config files.
    • user_name_machine.launch contain definitions for c1 & c2 with that user's configurations.
    • hsi_map.pgm, hsi_map.yaml are mapserver compatible maps of HSI.
  • /etc/ros/robot.launch now includes /etc/ros/hrl.launch . Probably it's a good idea to put this file into a package in gt-ros-pkg, add to svn and symlink it, but this is a to do.
    • (not true anymore as this conflicts with 2d_nav package) by default we're launching teleop_joystick.launch (via an insertion into /etc/ros/robot.launch) so that the joystick will always be available to move the robot.
  • Nodes that need to launch by default by "sudo robot start" should be declared in /etc/ros/hrl.launch

Network

  • PR2 Computers
    • pr2c1.hsi.gatech.edu
    • pr2c2.hsi.gatech.edu
    • pr2base.hsi.gatech.edu
      • Access using pr2admin/$(HRL default). Alternately create your own account.
  • Plugging the PR2 to any HSI port will cause it to use the wired network, and it's currently wirelessly connected to robot1. Even though robot1 is a 192.* NATed network, there is a little bit of network magic through VPN tunnels that allows you to still connect with the above host names.
  • The client wireless router configuration on the robot is using the default HRL username and password.
  • gtpr2LAN uses the same key as robot1 (can be found on HRL Infrastructure Page).