Specification-of-our-robots.md

-[[_TOC_]]
+---
+title: Specification of mobile robots
+---
+To be able to interact with robots, connect to Wi-Fi with SSID `turtlebot_wl_2` (2.4GHz) or `turtlebot_wl_5` (5GHz).
 
-# Turtlebot3 burger
+# Turtlebot3 Burger
 
-login : ubuntu
-password : turtlebot
+## Setup
 
-## Peanut 
+To set a robot up, connect to it via SSH with login `ubuntu`. Authentication is with private key.
 
-+ name: peanut
-+ ros version: 1
-+ iot ip: 10.200.3.73 
-+ mac address: `b8:27:eb:b6:06:1b`
-+ login: pi
-+ password: turtlebot
-+ startup
-```
-> cd 
-> source .bashrc
-> ./roslaunch.sh
+```sh
+ssh ubuntu@176.16.1.XXX
 ```
 
-## Sunshine
+The robot hosts several ROS nodes: `turtlebot3_bringup` (to access motors, LiDAR, etc), `v4l2_camera` (to access camera data), `̀turtlebot_simple_action_server` (for high-level actions to drive the robot), `rosbridge_server` (for external access to nodes via WebSocket). Commands to run these nodes are given below. Each command must be run in a separate SSH terminal.
 
-+ name: sunshine
-+ ros version: 1
-+ iot ip: 10.200.3.69 
-+ mac address: `b8:27:eb:71:73:cb`
-+ login: pi
-+ password: turtlebot
-+ startup
-```
-> cd 
-> source .bashrc
-> ./roslaunch.sh
+```sh
+ros2 launch turtlebot3_bringup robot.launch.py
 ```
 
-## Doc
+```sh
+ros2 run v4l2_camera v4l2_camera_node --ros-args -p image_size:="[320,240]" -p time_per_frame:="[1,10]" -p brightness:=60 -p saturation:=70
+```
 
-+ name: doc
-+ ros version: 1
-+ iot ip: 10.200.3.103 // 10.200.5.5
-+ mac address: `b8:27:eb:33:76:6c`
-+ login: pi
-+ password: turtlebot
-+ startup
+```sh
+cd ros2_ws/src/simple-turtlebot-actionserver/script
+python3 turtlebot_simple_action_server.py
 ```
-> cd 
-> source .bashrc
-> ./roslaunch.sh
+
+```sh
+ros2 launch rosbridge_server rosbridge_websocket.launch
 ```
 
-## Happy
+Note: the environment should have been properly set when connecting to SSH (commands are in `bashrc`). If issues occur, ensure that the environment is still correct:
 
-+ name: happy
-+ ros version: 1
-+ iot ip: 10.200.3.104
-+ mac address: `b8:27:eb:d0:1f:f1`
-+ login: pi
-+ password: turtlebot
-+ startup
-```
-> cd 
-> source .bashrc
-> ./roslaunch.sh
+```sh
+export TURTLEBOT3_MODEL=burger
+export ROS_DOMAIN_ID=XX
+export RMW_IMPLEMENTATION=rmw_fastrtps_cpp
+source /opt/ros/humble/setup.bash
 ```
 
-## Bashful 
+## Network configuration
 
-+ name: bashful
-+ ros version: 1
-+ iot ip: 10.200.3.110 
-+ mac address: `b8:27:eb:67:12:5b`
-+ login: pi
-+ password: turtlebot
-+ startup
-```
-> cd 
-> source .bashrc
-> ./roslaunch.sh
-```
+| Name | MAC address | IP address | ROS Domain ID |
+| --- | --- | --- | --- |
+| Bashful | `b8:27:eb:67:12:5b` |  |  |
+| Doc | `b8:27:eb:33:76:6c` |  |  |
+| Peanut | `b8:27:eb:b6:06:1b` | `172.16.1.103` | 30 |
+| Happy | `b8:27:eb:d0:1f:f1` | `172.16.1.104` | 33 |
+| Sneezy |  |  |  |
+| Snowflake |  |  |  |
+| Sunshine | `b8:27:eb:71:73:cb` |  | 31 |
 
-# Turtlebot3 waffle
+# Turtlebot3 Waffle
 
 TODO