Programming A.R.E.S. with ROS
Now that A.R.E.S. has been assembled and the essential software and firmware have been installed, we are ready to employ ROS for remote control over the internet. During our setup, we installed ROS along with all the necessary libraries. Along with our setup script, we downloaded test scripts from our GitHub repository, which we ran to ensure everything was functioning correctly.
A pre-existing ROS workspace also exists in our GitHub repository. To create a ROS node with this code, simply transfer the pre-existing workspace to our home directory and execute a colcon build command.
To do this, we do the following:
- Using a program such as PuTTY on Windows, or a Terminal on a Linux-based system, we log in to our Raspberry Pi 3B+ using the IP address we obtained after running the setup script.
- To copy our ROS workspace to the current directory, we run the following command (we must not forget the dot):
cp -r code/Chapter13/code/ares_ws .
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