[Fiware-robotics] R: R: R: R: rcm_platform v2

[Colombatto Davide]

Hi Pepe,

I don't know about information inside the CB but the FIROS version associated to your service logic is the same of the old version of FIROS except for the CB address (130.206.114.100) and the TOPIC published in ROS ("mobile_base/commands/velocity") in order to command the turtlebot; said that, the FIROS should name the CB entity as "turtle1" with the attribute "cmd_vel" as in the first demo.
Have you tried to use the web-app we used in the first demo? (I have tried it and it works, after having changed the var CB_URL in the app.js)

N.B. Please, remember the FIROS is running after you see that the RDAPI "Read platform" answers both connected and paired are "true". After the Service Space is created you can also see the information related to the Service Space, using the RDAPI "Read Service Space" (passing the GET-param  ss_name=tutlebotET).


Since we haven't work with the CB-API, if you prefer we can use a your instance of the CB so you could have more control on it. 

BR,
Davide


-----Messaggio originale-----
Da: fiware-robotics-bounces at lists.fi-ware.org [mailto:fiware-robotics-bounces at lists.fi-ware.org] Per conto di Jose Jaime Ariza
Inviato: martedì 23 giugno 2015 13:39
A: fiware-robotics at lists.fi-ware.org
Oggetto: Re: [Fiware-robotics] R: R: R: rcm_platform v2

Hi all,

I've made some tests in a real turtlebot and everything looks fine. I've tried to get information from your contextbroker but I've not find anything, I'm searching entities with type ROBOT.

BR,
Pepe

On 22/06/15 18:29, fabio.dibenedetto at consoft.it wrote:
> The permission problem is only because I had to unzip the package on 
> Windows and rezip it on that OS: in this process I lost all the 
> permission I had set (so all the executable files). Sorry about that
>
> -----Messaggio originale-----
> Da: fiware-robotics-bounces at lists.fi-ware.org 
> [mailto:fiware-robotics-bounces at lists.fi-ware.org] Per conto di 
> Colombatto Davide
> Inviato: lunedì 22 giugno 2015 17:45
> A: Jose Jaime Ariza; fiware-robotics at lists.fi-ware.org
> Oggetto: [Fiware-robotics] R: R: R: rcm_platform v2
>
> Hi Pepe,
>
> For the "+x persmissions" issues (related to "/usr/local/bin/rcmp_launcher" and "*.sh") maybe are related to the password applied to forward you the zipped-installation package.
>
> The service logic related to the "turtlebotET" instance is:
> - on the Server side (i.e. Master) it is started FIROS (as the version 
> except that the CB IP), so you won't see the FIROS-core.py process on 
> the Robot side
> - on the Robot side (i.e. your machine) they are started the ROS driver to allow the robot teleoperation through the ROS launcher "turtlebot_bringup minimal.launch".
>
> N.B. If RCM doesn't succeed to start (within the created Service Space) even just one of the node/launcher related to the service logic, it stops all of them and also deletes the Service Space.
> For this reason it is better that your machine is a real turtlebot's PC (better if connected to the Kobuki to have some feedbacks), in order to have already installed the ROS driver started by "turtlebot_bringup minimal.launch" (and obviously the ROS launcher itself).
>
> Let we know if with a real turtlebot it works.
>
> Thank you,
> D
>
> -----Messaggio originale-----
> Da: fiware-robotics-bounces at lists.fi-ware.org 
> [mailto:fiware-robotics-bounces at lists.fi-ware.org] Per conto di Jose 
> Jaime Ariza
> Inviato: lunedì 22 giugno 2015 17:10
> A: fiware-robotics at lists.fi-ware.org
> Oggetto: Re: [Fiware-robotics] R: R: rcm_platform v2
>
> Thank you very much Davide.
>
> I've found one bug (I believe it is a bug) in the installer:
> /usr/local/bin/rcmp_launcher hasn't got +x persmissions. I had to add it manually.
>
> After starting rcmpd the robot appears as connected and paired but, a minute or two after that, "python /usr/local/bin/rcmp_launcher" starts eating 99.9% of a CPU core. The machine where I'm performing the test doesn't have FIROS or any other ROS node running. I'll try in the real turtlebot and let you know.
>
> BR,
> Pepe
>
> On 22/06/15 12:53, Colombatto Davide wrote:
>> Hi Pepe,
>>
>> 130.206.114.100 is the IP of the CB only whereas the RCM_MASTER is a TI-VM.
>>
>> You can (and we can also show in the demo) the information retrieved directly by the Robotics Data Mgmt (look at https://forge.fiware.org/plugins/mediawiki/wiki/fiwarei2nd/index.php/FIWARE.ArchitectureDescription.I2ND.Robotics#Architecture).
>> In particular you can use the RDAPI depicted in OpenSpecDraft (https://docs.google.com/document/d/1eWO5MYYkjJEo1xLLm2YsX_bhCnET5eX4dm4_cL9MFg0/edit#), changing "MASTER_WAN_public_IP" in "jolcrab-platform.ddns.net", related to:
>> - Read platform (provisioned Robots)
>> 	- Your robot will be shown as "pi_name":"turtlebotET"
>> 	- "connected":true: the Robot's PM_AGENT is connected to the PM_MASTER
>> 	- "paired":true: the Robot is paired with a Server (i.e. always the 
>> Master for this Major Release)
>> - Read service space passing as GET parameter ss_name=turtlebotET
>> 	- Conventionally the Service Space automatically created for a connected robot has the same name of the robot
>> 	- Obviously you can use this API only if the robot is currently 
>> connected (i.e. the Service Space in created)
>>
>> After the PM_AGENT is installed on your turtlebot's PC you have only to switch on/off the turtlebot'PC (or just to switch on/off the WiFi connection) and the correct service logic (FIROS on Server side and turtlebot's DRIVER on Robot side) should be started by the PM_MASTER.
>> Please, also consider that the actual RCM implementation requires about 1 minute to recognize (i.e. to be sure to correctly identify) a Robot connection/disconnection and to do the relative tasks (i.e. creating/deleting the Service Space).
>>
>> Let we know,
>> D
>>
>>
>> -----Messaggio originale-----
>> Da: fiware-robotics-bounces at lists.fi-ware.org
>> [mailto:fiware-robotics-bounces at lists.fi-ware.org] Per conto di Jose 
>> Jaime Ariza
>> Inviato: lunedì 22 giugno 2015 12:34
>> A: fiware-robotics at lists.fi-ware.org
>> Oggetto: Re: [Fiware-robotics] R: rcm_platform v2
>>
>> Hi,
>>
>> I've made some tests with a virtual machine. The installation went smoothly (I'd add "chmod +x *.sh" to the guidelines you sent) and it looks like the rcmpd is working, but I cannot get information from the RCM master (RDAPI). The installation script is tellimng me that the RCM Master is in 10.82.99.1 and I've tried 130.206.114.100 also.
>>
>> We had to change the IP of our CB, the new one is 130.206.122.27 but we'd prefer to use yours.
>>
>> Thank you very much,
>> Pepe
>>
>> On 19/06/15 18:46, Colombatto Davide wrote:
>>> Hi,
>>>
>>> only a clarification about the sentence "The firos instance is the old one until we can deploy the new one"; as we said in the new demo proposal the old FIROS code is modified as following:
>>> - the topic is modified from the turtlesim one ("turtle1/cmd_vel") 
>>> to the turtlebot one ("mobile_base/commands/velocity")
>>> - the current CB instance used is that at 130.206.114.100:1026; we created this our CB instance (on Spain2 node) because your old one didn't work (when it will be up again we can reuse it if you want).
>>>
>>> Using this configuration we have done many tests, also using your old web-app of the first demo (i.e. using chrome disabling the security option to avoid cross-domain issues and publishing to the CB instance at 130.206.114.100:1026), and it seems to work good (e.g. no latency btw the web-app's FORWARD command and the turtlebot's movement).
>>>
>>> BR,
>>> Davide
>>>
>>>
>>> -----Messaggio originale-----
>>> Da: fiware-robotics-bounces at lists.fi-ware.org
>>> [mailto:fiware-robotics-bounces at lists.fi-ware.org] Per conto di 
>>> fabio.dibenedetto at consoft.it
>>> Inviato: venerdì 19 giugno 2015 18:21
>>> A: fiware-robotics at lists.fi-ware.org
>>> Oggetto: [Fiware-robotics] rcm_platform v2
>>>
>>> Hi guys,
>>> here is the new version of rcm_platform.
>>> To install it copy the zip on your turtlebot
>>> - scp rcm_platform.zip turtlebot at ip_address:.
>>> and unzip it (you can do it where you want because this is the 
>>> installer and it will put all the files where are needed)
>>> - unzip rcm_platform.zip
>>> Once extracted the package you will have a folder named 
>>> rcm_platform_pkg; go into it and launch install.sh
>>> - cd rcm_platform_pkg
>>> - ./install.sh
>>>
>>> This command starts the installation and configuration of your rcm platform node: it starts creating a ros workspace used by rcm and then installs 2 python packages in your ubuntu distribution. Then starts installing rcmplatform: many of these operations need root permission so during the installation will be asked the credentials. At the end of the installation the configuration step starts: follow the instruction on your shell.
>>> I'd ask you to answer n or no when the script ask to say if your 
>>> instance is the master. There has to be only one master and is on 
>>> the TI machine where is the VPN server. Then you have to give a name 
>>> to your platform node: please, use "turtlebotET" because we already 
>>> have manually provisioned it. It is provisioned with a custom 
>>> service logic named "fiware_demo2" which starts a service space 
>>> (with the same name of the robot), a firos instance on server side 
>>> and the turtlebot ros driver on the robot side. The firos instance 
>>> is the old one until we can deploy the new one. Your platform node 
>>> should a robot, so when asked answer y yes or press only enter (the 
>>> installer put the default answer between [] so if you push enter 
>>> that value will be used). The default address of the master is 
>>> calculated using the tun0 interface so you have the vpn 
>>> configuration already done to do this installation. The final step 
>>> of the installation put rcm as daemon in your ubuntu machine and 
>>> start the compilatio n of rcmp workspace. At the end you can decide 
>>> if already run the rcm node or if you want wait and start it 
>>> manually later (sudo service rcmpd
>>> start)
>>>
>>> I hope this is clear but if I missed something ask me
>>>
>>> Last thing: I've redone the zip to add the password "robotics"
>>>
>>> Have a nice week end
>>>
>>>
>>>
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>>>
>>>
>> --
>> José Jaime Ariza
>> R&D Engineer
>> +34 696604288
>> Ikergune, Etxe-Tar group
>>
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>
> --
> José Jaime Ariza
> R&D Engineer
> +34 696604288
> Ikergune, Etxe-Tar group
>
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--
José Jaime Ariza
R&D Engineer
+34 696604288
Ikergune, Etxe-Tar group

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