Waterloo Steel:Platform Launch Demos

Table of Contents

[Last generated: Wed 4 Oct 2023 15:34:20 EDT]

• 0. General
• 1. [Launch Instruction] Waterloo Steel Demo (Jack)
  • 1.1 Launching the Camera
  • 1.2 Launching WAM
  • 1.3 Launching Demo Node
  • 1.4 Check Demo Rosbag Records:

---

0. General

‼️ For general powering on device, please refer to 💠 Platform Instruction

1. [Launch Instruction] Waterloo Steel Demo (Jack)

1.1 Launching the Camera

$ ssh uwarl-orin@192.168.1.10
$ roslaunch waterloo_steel_supervisor multi_intel_camera.launch

🚨 If the launch is not successful:

1. Check the hardware USB C cable connections to both cameras
2. [Ask Jack if you need to] Launch individual cameras separately for the system to register individual camera IDs

1.2 Launching WAM

# 1. connect to jetson
$ ssh uwarl-orin@192.168.1.10
# 2. start a tmux session
$ tmux 
### TIPS:
# create multiple windows with:
# [ctrl + b] then ["] : split horizontal
# [ctrl + b] then [%] : split vertical
# [ctrl + b] then [arrow-keys] : switch window selection
# [ctrl + b] then [:] and [type: set mouse on] : to enable mouse selection and scroll and window adjustment

# 3. launch wam node:
$ roslaunch wam_node wam_node.launch
### WAM Activation Instruction:
# 1. release all E-stops
# 2. [shift & activate] on control pendant (the one with E-stop inside the cabinet)
# 3. [Enter] on the keyboard to confirm default home-position
# Now, you will hear the gear activating

### TIPS:
# launch other nodes: 1.2 camera & 1.4 demo node in different tmux windows

# 4. detach to keep running in background and independent from your laptop terminal:
# [ctrl + b] then [:] and [type: dettach]

1.3 Launching Demo Node

$ roslaunch waterloo_steel_supervisor waterloo_steel_demo.launch
# command to perform demo:
$ rosservice call /waterloo_steel/start_demo "demo_id: 2"

1.4 Check Demo Rosbag Records:

$ ls ~/.ros/bagfiles/waterloo_steel_demo/session_{id}/

---

> Back To Top <