CONNECT AND CONTROL HUSKY IRL

Please follow "Run Husky in Gazebo" and "Using Keyboard to control Husky" to setup Husky first before begin this tutorial.*

• Get your PC connect to "clearpath Base Station" wifi (if there are 2 sources of wifi with the same name, please choose the unlock one).
• Open your terminal.
• Connect to Husky .

ssh administrator@[ipaddress]

• Terminal will ask you to confirm. Please type "yes".
• To check if your connection with Husky is established

ping <HUSKY'S HOSTNAME>

• Open a new Terminal and use

nano ~/.bashrc

• Add these 2 lines at the end

  export ROS_MASTER_URI=http://<HUSKY'S HOSTNAME>:11311
  export ROS_HOSTNAME= <PC'S HOSTNAME>
  

• Open a new terminal and use:

  source ~/Documents/husky_kinetic/devel/setup.bash
  rosrun custom_keyboard_interface custom_keyboard_interface.py
  

• For more information please refer to Husky CLEARPATH ROBOTIC's user manual

  • https://github.com/rhrt/Devices/blob/master/Motors/Clearpath%20Husky%20A200/Husky-A200-UGV-UserManual-0.12.pdf