The D1 development platform of the Tree Plum Pi control transient

The control interface of the lower machine of the transient D1 development platform reference: http://blog.csdn.net/EAIBOT/article/category/6204460
Here we talk about how to use the Tree plum Pie (Raspberry Pi) and the lower machine connected to control the movement of the Sunco D1 development platform.

The main points are as follows:

Line connection

The D1 development platform reserves two lines: 5V power cord and USB data cable.
Put these two lines separately and the tree Plum Pie power supply (micro USB), USB interface (any of four USB ports can be).
If the connection is normal, press the D1 development Platform Switch button, the tree plum pie instructions will be lit.

Next, we need to prepare the HDMI interface display, USB interface keyboard and mouse.
Tree Plum pie Default username/password is: pi/dobest
Through the display configuration Tree Plum's WiFi, after the configuration is complete, you can obtain the tree MUI Pi IP address (assuming IP is 192.168.1.101).
Later on, we can control the mobile development platform via WiFi.

Remote control

Tree Plum Pie By default, the SSHD service is turned on, username/password: pi/dobest. We can access the tree plum pie remotely via ssh.

Activating Ros Services

After remote login Tree plum pie, you can start the ROS service process with the following command.

~$ 

Speed and direction control

Also open a tree plum command terminal, the following command to control the mobile development platform.

pub10  ‘{linear: {x: 0.2, y: 0, z: 0}, angular: {x: 0, y: 0, z: 0}}‘

which

• {linear: {x: 0.2, y: 0, z: 0}–x:0.2 Express to 0.2m/s speed forward, can also be modified to 0.1~0.7 any value, more than 0.5 faster, mainly to put the development platform to open some places. This value also supports negative numbers, and -0.2m/s indicates that it is retreating at 0.2m/s speed.
• angular: {x: 0, y: 0, z: 0}}–z:0 indicates that the rad/s (radians/sec) is rotated to the left, and the value 0.5~3.0 is generally taken. This value also supports negative numbers, which means turning to the right.

Mobile app Control

By installing the Teleop apk, you can control the movement of the development platform on your Android phone.
Open Teleop, in master URI: Enter: http:\\ip:11311 , click "Connect" button to enter the control interface.
Note: The speed of the control interface is a percentage, and the speed does not have to be too large at first.

The D1 development platform of the Tree Plum Pi control transient