@@ -8,7 +8,7 @@ Installation with the install script is the easiest. You will need:
- the ``d_fall_pps`` package compressed in a file called ``package.tar.gz``
- the rule files for the USB connection to the crazyradio, called ``99-crazyflie.rules`` and ``99-crazyradio.rules``
These files all need to be in the same directory. To run the installation, move to the containing directory and call it with
These files all need to be in the same directory. To run the installation, move to the containing directory (pps\ install) and call it with
```
./pps_install.sh <student id>
```
...
...
@@ -27,7 +27,7 @@ Create a new catkin workspace and copy the ``d_fall_pps`` package into the ``src
Add a new line in the ``/etc/hosts`` file that links the teacher's IP with the domain name ``teacher`` and create a file called ``/etc/StudentID`` that contains the student id. Only write digits without any other symbols or whitespace characters.
- USB Crazyradio: <br/>
To set up the crazyradio USB dongle just copy the rule files ``99-crazyflie.rules`` and ``99-crazyradio.rules`` to the directory ``/etc/udev/rules.d``.
To set up the crazyradio USB dongle just copy the rule files ``99-crazyflie.rules`` and ``99-crazyradio.rules``from directory ``pps\ install/``to the directory ``/etc/udev/rules.d``.
You also have to install the library pyusb:
```
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@@ -43,10 +43,12 @@ sudo pip install pyusb
```
- Source scripts in ``.bashrc``: <br/>
You need to source the following scripts in the ``.bashrc`` file:
- the ROS setup script: ``/opt/ros/kinetic/setup.bash``
- the workspace setup script: ``<catkin workspace>/devel/setup.bash``
- the student setup script: ``<catkin workspace>/src/d_fall_pps/launch/Config.sh``
Add following lines to the bottom of the file ``~/.bashrc`` (replace ``<catkin workspace>`` with correct directory)
The workspace setup script will only appear after the first compilation of the catkin workspace.
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@@ -64,6 +66,9 @@ must be replaced with
export ROS_HOSTNAME=teacher
```
### IP-Addresses
Currently the teacher's IP is ``10.42.0.10`` and the student's IP are of the format ``10.42.0.xx``, where xx is an unused address.
### Installation of cfclient
The steps to install the crazyflie client are taken from [here](https://github.com/bitcraze/crazyflie-clients-python). To install the cfclient you need to install its dependencies:
@@ -77,18 +77,23 @@ Then go to the _IPv4 Settings_ and choose **Manual** as the _Method_ and then ad
**Don't forget to choose the Vicon network manually if you choose to enable WiFi and Ethernet simultaneously as described below!**
<br>
### Vicon, teacher and students
During installation process is the IP address of the teacher set to 10.42.0.10. (This value is written to the /etc/hosts file such that this IP address is accessible through the keyword _teacher_) <br>
Have a look at `Config.sh` in `~/pps_ws/src/d_fall_pps/launch/`
Here you see, that the ROS Master URI is set to be the teacher. This means that _roscore_ runs only on the teacher's computer. Your own IP address (_ROS IP_) is also set and taken from your Ethernet settings as defined in the section _Setting up the Vicon network_.
<br>
### IP-Addresses
Currently the teacher's IP is ``10.42.0.10`` and the student's IP are of the format ``10.42.0.xx``, where xx is an unused address.
### Using WLAN and Vicon simultaneously
Without some adjustments it is not possible to use an Ethernet and a wireless network at the same time. Vicon is connected via cable and therefore wouldn't allow a connection to the Internet. Because it's tedious to always unplug the cable just to be able to look something up on Google, we provide an explanation on how to enable simultaneous usage of WLAN and Vicon. <br>
**But careful: If you enable this setting you have to choose the Vicon network manually. This is a common mistake! You will get an error if the cable is inserted but not manually chosen as shown in the picture below.**
Ubuntu allows multiple connections by default, but sometimes, we need to specify which one to use. In your comments, you have mentioned that you use LAN for the Intranet and WiFi for the Internet.
Ubuntu allows multiple connections by default, but sometimes, we need to specify which one to use. Here we use LAN for the Intranet and WiFi for the Internet.
So, firstly search for Network Connections in the unity dash. Then, under the Ethernet section, click 'Add' button.
