Usefull Scripts for working with the match mobile robots.
#More info for console outputs Execute this in the console or add it to the .bashrc:
export ROSCONSOLE_FORMAT='[${severity}] [${time}] [${node}] [${logger}]: ${message}'
failed-to-fetch-binary-armhf-packages-error-
sudo dpkg --remove-architecture armhf
"Package dependencies cannot be resolved" error when installing software" https://askubuntu.com/questions/101822/package-dependencies-cannot-be-resolved-error-when-installing-software
scan for IPs in network: sudo nmap -sn 10.145.8.0/24
scan for mac-addresses: sudo arp-scan -l
| Device | Static IP |
|---|---|
| fritz_box | 10.145.8.1 |
| Rocket M5 | 10.145.8.10 |
| MuR_AirLan | 10.145.8.11 |
| MiRanda_AirLan | 10.145.8.12 |
| stereo_AirLan | 10.145.8.13 |
| agilex_AirLan | 10.145.8.14 |
| master_SPS | 10.145.8.20 |
| MiRanda_SPS | 10.145.8.21 |
| MuR_SPS | 10.145.8.22 |
| Spot_SPS | 10.145.8.23 |
| mobile_master_SPS | 10.145.8.24 |
| master | 10.145.8.30 |
| MiRanda_USB | 10.145.8.31 |
| mobile_master | 10.145.8.32 |
| MuR_ethernet | 10.145.8.33 |
| mir200_robot_controller | 10.145.8.34 |
| mir100_robot_controller | 10.145.8.35 |
| spot_AirLan | 10.145.8.36 |
| keyence_controller | 10.145.8.37 |
| spot | 10.145.8.38 |
| keyence_pc | 10.145.8.39 |
| agilex_pc | 10.145.8.40 |
| (agilex2_pc | 10.145.8.41) |
| rosmaster2 | 10.145.8.42 |
| UR16e | 10.145.8.43 |
| mir600a_AirLan_receiver | 10.145.8.58 |
| mir600a_AirLan_transmitter | 10.145.8.59 |
| mir600b_AirLan_transmitter | 10.145.8.46 |
| mir600b_AirLan_receiver | 10.145.8.47 |
| mir600a_robot_controller | 10.145.8.61 |
| mir600b_robot_controller | 10.145.8.49 |
| mir600c_robot_controller | 10.145.8.48 |
| mir600d_robot_controller | 10.145.8.44 |
| mur620a | 10.145.8.60 |
| mur620b | 10.145.8.54 |
| mur620c | 10.145.8.41 |
| mur620d | 10.145.8.85 |
| roscore | 10.145.8.50 |
i.e. for timesync of MiR with chrony
- Boot with Linux Live-USB (connect Display and Keyboard to PC)
- Mount filesystem for later use with chroot:
sudo mkdir -p /media/mir
sudo mount /media/mir/ /dev/sda3
sudo mount --bind /dev/ /media/mir/@/dev
sudo mount --bind /run/ /media/mir/@/run
- Chroot into system
sudo chroot /media/mir/@/
- Create User for later access via ssh:
adduser rosmatch
usermod -aG sudo rosmatch
sudo apt install chrony
# if not installable (to fix broken dependencies):
sudo apt -f install
sudo apt install chrony
add server 10.145.8.50 to config:
echo "server 10.145.8.50" | sudo tee -a /etc/chrony/chrony.conf
sudo systemctl restart chrony
# check if new server is on top:
chronyc sources
To test your ros package with github you have to use rostest. For testing in a workflow with github, the Industrial CI package can be used.
Create test scripts with rostest and different TestCase. An example can be found here
With the Industrial CI package it is possible to check whether the package can be build in the specified ROS-Version and if the specified test cases are successful. For using the package, a yml-file is created in .github/workflows/ . Depending on this file, the workflow can be started manually, at push or merge of a branch.