Snowplow project for 2021-2023.

The Jetson Nano has a number of bash scripts which can be executed from anywhere via alias:
initplow : initializes ROS core, ROS lidar functionality/Hector SLAM, and rosserial for arduino communication.
startplow : executes main.py in this directory's src folder.
runplow : executes the above 2 functions in sequence, initializes then starts the plow's movement.
stopplow : pkill all the processes spawned by the above scripts.

To run SICK-LMS-511 with ROS and jetson nano:

1. ensure Jetson connection to router via ethernet with DHCP, disable Jetson wifi
2. cd into catkin_ws
3. run roscore in a different tab
4. cd into catkin_ws
5. source install/setup.bash
6. roslaunch sick_scan sick_lms_5xx.launch hostname:=192.168.1.2 (IP may change - set IP with SOPAS-ET for Windows)
7. rviz rviz to open the rviz visualizer for the data

Hector SLAM testing:

1. cd into catkin_ws
2. source install/setup.bash
3. roslaunch sick_scan test_005_hector.launch hostname:=192.168.1.2
4. rviz will open. Select Global Options>Fixed Frame > laser_POS_000_DIST (May take some time to appear)
5. rostopic echo /slam_out_pose (for best robot position and orientation info. Also may take some time)
6. rostopic echo /scan (for a nice array of distances to objects for each half degree)

General Notes:
Using map for localization
Check live data (/scan) for actual current obstacles

ros_numpy geometry: https://github.com/eric-wieser/ros_numpy/blob/master/src/ros_numpy/geometry.py

To change which git user is used on the nano:
git config user.email "[email protected]"
git config user.name "Your Name"
Remember to update ssh keys as well

Lidar IPs:
SICK LMS511: 192.168.1.2
SICK TiM551: 192.168.1.3