Launch the Demo

The easiest way is to use TeamViewer to remote control the INTEL NUC.

• There is an issue while attempting to access the INTEL NUC through TeamViewer or VNC without any screen attached to the HDMI port, resulting on a black screen or small and really slow experience while remote controlling. This is a known issue for these computers. A quick and easy trick consists in plugin the TV screen or whatever screen, start the TeamViewer or VNC session, and then unplug it.
• Connect the remote computer to the ridgeback-baxter-5GHz network
• TeamViewer credentials:

  • Id: 192.168.125.53
    Pass: nucridgebackbaxter
    

• Open a terminal:
  • Terminal 1: Access the Ridgeback and enable communication with Baxter
    • ssh administrator@cpr-ridgeback
    • Enable bluetooth for teleop (if required): sudo hciconfig hci0 up
    • Start screen session: screen (for letting it running in background)
    • Screen 1:
      • source /opt/ros/indigo/setup.bash && export ROS_MASTER_URI=http://011509P0021.local:11311
      • sudo ros service stop (pass: clearpath)
      • roslaunch ridgeback_base base.launch
    • Screen 2: (Ctrl+A then c)
      • source /opt/ros/indigo/setup.bash && export ROS_MASTER_URI=http://011509P0021.local:11311
      • roslaunch ridgeback_bringup accessories.launch
    • Screen 3: (Ctrl+A then c)
      • Detach screen: screen -d
  • Terminal 2 (new tab or window): Launch the Baxter-on-ridgeback description
    • roslaunch ridgeback_baxter_description description.launch
  • Terminal 3 (new tab or window): Launch the Realsense cameras
    • Check if RealSense cameras are detected rs-enumerate-devices | grep Serial
    • roslaunch realsense2_camera launch_realsense_intel_multi.launch
  • Terminal 4 (new tab or window): Launch the navigation module
    • Navigation: roslaunch rtabmap_ros ridgeback_multi_navigation.launch
  • Terminal 5 (new tab or window): Finally, launch the global state machine
    • State Machine: roslaunch smach_baxter launch_baxter_manipulation.launch
    • If you want a visual output, open a new terminal, and launch rosrun smach_viewer smach_viewer.py
• For an RViz visual output, open rviz and load the ridgeback_navigation.rviz configuration