CG2111A Alex rescue robot

This README documents the main functions and debugging steps taken during EPP2 (CG2111A) Project.

1. Arduino

2. RPi Communication with Arduino

Compiling Alex RPi code on the RPi terminal: 
gcc alex-pi.cpp serial.cpp serialize.cpp –pthread –o Alex-pi

To run the Alex RPi code:
./Alex-Pi

3. RPi RPLidar

Initial source code to run for every new terminal opened. By putting in .bashrc we remove the need to do this every time:
source ~/cg2111a/devel/setup.bash (put in bashrc)

3.1.1 ROS networking (RPi)

Run roscore on RPi (one terminal):
roscore

Start RPLidar Data stream (another terminal):
roslaunch rplidar_ros rplidar.launch

3.1.2 ROS networking (desktop - Linux)

Run rviz on Ubuntu terminal:
roslaunch hector_slam_launch tutorial.launch

**note: IMPORT_MASTER_URI done in .bashrc**

3.2 rviz on RPi

To launch rviz on the RPi (no offloading to another desktop; we did not do this):
roslaunch rplidar_ros view_slam.launch

4 Debugging

Add RPi to host

vim /etc/hosts