Here are the steps for running the ROS PSoC nodes for drive and arm control
[1] Drive Control note the IP of the Beaglebone Black (BBB) do the following on the BBB run: roscore run: cd /git/rostesting/rover_ws run: source devel/setup.bash run: rosrun psoc_driver psoc_driver_node run: rosrun drive_teleop drive_teleop_node
On the slave Linux machine run: export ROS_MASTER_URI=http://XXX.XXX.XXX.XXX:11311 (XXX are IP) (make sure that the /etc/hosts file has a hostname called ubuntu with the aforementioned IP, otherwise you will not be able to see the BBB, also, if trouble still is happening, make sure that the /etc/hosts file on the BBB has the name of the slave Linux machine with its corresponding ip) run: rosparam set joy_node/dev "/dev/input/jsX" (X is the port, default is 0, google "ROS joy" and find configuring a joystick for help) run: rosrun joy joy_node
[2]Arm Control All the steps are the same, except for the rosrun commands on BBB
run: rosrun psoc_arm psoc_arm_node run: rosrun arm_teleop arm_teleop_node
Here are the steps for adding startup commands
[1]ssh into BBB [2]run: sudo nano /etc/init.d/rosstartup.sh [3]edit this .sh file and add any commands that you would like run when the BBB starts up (The next steps only need to happen once) [4]run: chmod +x /etc/init.d/rosstartup.sh [5]run: update-rc.d rosstartup.sh defaults 99