ros2 wtf -->to find error failed to create domain
https://github.com/flexbe/flexible_navigation
source install/setup.bash
ros2 launch flexbe_onboard behavior_onboard.launch.py
ros2 launch flexbe_webui flexbe_full.launch.py
/home/robotino/flexbe_ws/flexible_navigation/flex_nav_planners/src/follow_topic.cpp:325:52: error: no matching function for call to ‘nav2_core::GlobalPlanner::createPlan(geometry_msgs::msg::PoseStamped&, geometry_msgs::msg::PoseStamped&)’ 325 | nav_msgs::msg::Path path = planner_->createPlan(start_pose, goal_pose);
means it cant communicate with nav2_core->globalplanner file. problem is that there is an extra function.so we need to add another function to /home/robotino/flexbe_ws/flexible_navigation/flex_nav_planners/src/follow_topic.cpp
man (sth) to check the fuction if u r not sure how to use it
ros2 launch robotino_simulation robotino_simulation.launch.py namespace:=robotinobase1 launch_rviz:=true use_sim_time:=true
ros2 launch robotino_navigation robotino_bringup.launch.py namespace:=robotinobase1 use_sim_time:=true launch_nav2rviz:=true map:=map_webots.yaml
important topics for flexbe to launch the robot
/robotinobase1/goal_pose : to set position
https://ocw.tudelft.nl/courses/hello-real-world-ros-robot-operating-system/?view=lectures&paging=8 video tutorial for Flexbe
git checkout ->to switch version of the code at github
https://github.com/carologistics/fawkes-robotino/blob/master/cfg/conf.d/static_transforms.yaml axis coordinates dyn transform needed gripper xyz dyn
grep -r ->
https://github.com/carologistics/fawkes-robotino/tree/master/src/lua/skills/robotino
train picture https://colab.research.google.com/github/ultralytics/ultralytics/blob/main/examples/tutorial.ipynb
actions must have capital letter zB Gripper.action
ros2 topic pub /cmd_vel geometry_msgs/msg/Twist "linear: x: 0.0 y: 0.0 z: 0.0 angular: x: 0.0 y: 0.0 z: 0.0 " ros2 topic echo /tf | grep -B 1 -A 1 plate_top to get message before and after
to run action server ros2 launch dynamic_tf dynamic_tf.launch.py ros2 run dynamic_tf gripper_action_server ros2 action send_goal /gripper gripper_msgs/action/Gripper "x_target: 0.0 y_target: 0.0 z_target: 0.0 frame: 'gripper_x_origin' "
very important. never touch init.py !!!!!!!!!!!!!!!!
chmod +x /chown +X to allow program to be executable ping ip address - to check whether it"s responding /home/robotino/ros2/flexbe_ws/install/flex_nav_flexbe_states/lib/python3.12/site-packages/flex_nav_flexbe_states
ssh-copy-id robot@192.168.0.208 touch COLCON_IGNORE skip a certain file when its not compatible to build(colcon build)
ros2 run tf2_ros static_transform_publisher --x -2 --y 4 --z 3 --frame-id base_link --child-frame-id target https://matthew-brett.github.io/transforms3d/reference/transforms3d._gohlketransforms.html#angle-between-vectors ros2 action send_goal /gigatino/move gigatino_msgs/action/Move "relative: false x: 10.0 y: 0.0 z: 6.0 target_frame: 'base_link' gripper_state: false use_gripper: false "
install python package sudo dnf install python3-(files) gedit .ssh/config
git diff > ~/.diff cat ~/.diff scp rb2:/home/robotino/ . git apply then git add commit and push pkgs.org -cd dev/ppa upload to copr
sudo chown zhenyan:zhenyan /dev/ttyACM1
after that delete the line that links to the robots