---
# System prepended metadata

title: 'Syntech:'

---

# Syntech:

224外面地板:
    一格 =0.4

1. ssh nvidia@192.168.50.158 開3個
2. ssh -X nvidia@192.168.50.39

set_ros(158要 39不用)
set_multi
source devel/setup.bash

3.for158:
     
     #1
        cd syntech_ws_multi_robot1_slam
        roslaunch navigation_controller                           
        multi_robot_navigation_slam.launch  //
        
     #2  
        cd syntech_multi_1_map 
        roslaunch apriltags2_ros continuous_detection.launch
        
     #3  
        cd realsense_ws
        roslaunch realsense2_camera rs_rgbd.launch
        

for 39:

        #1 
            cd syntech_ws_multi_robot0_slam
            
            
電腦:
             
        1 cd syntech_multi_robot_slam_adv_new
        2.roslaunch navigation_controler multirobot.launch
        3.rosrun orca orca_slam
        4.roslaunch interface interface_control.launch
        (pub_goal_muti_interface.launch)
        
        
        

問題：
    本地端開啟時發現 跳出不是catch時  驅動器插拔
    
    
    
    
    
    
2021/0609
    
1.改點:

    server:
          cd  syntech_robot_slam_adv_new/src/pub_goal/param/sytec
         robot_0_日期.txt
        內容:
            tnum:1
            x
            y
            Z
            z
            w
            
            zw的角度是相對於世界坐標系!

            pub_multi_goal.cpp
            轉換關係:寫在task_scheduling.cpp
            0度:
            
            TXT黨吃誰 有一個place topic 
            在pangolin 的main裡面可以改
            robot_幾_place.txt
            
   ![](https://i.imgur.com/0FBnszh.png)

   
   孫:的code寫法 兩個點都要產生路徑 機器人才會移動
                  
    
    AGV:
        改初始點:
            cd syntech_ws_muti_robot0_slam/src/robot_basic/launch
改robot_basic_all.launch中的initial_pose_x y z的vaule



2021/0610



2021/0618
開啟與手臂之間的socket
    cd syntech_multi_robot_interface
    roslaunch socket syntec_socket.launch
    
    
In termainal:
     
     158靠站等6消失，案1:傳給手臂1守備船1回來
     if ==1  pub給 interfacecontrol 車子停下
     
     手臂夾玩  finish1
     pub false 給158


    39靠站   案2 :傳給手臂2 船2回來給車
    if       pub true 給39停下
    
    
    手臂夾玩  finish2
    pub false 給39



0623整理：
系統圖：
![Uploading file..._abskaiei4]()




1.pub_goal:
     
        get_place：
        在pangolin main中給 place txt檔名
        傳到：place_cmd_ = n.subscribe<std_msgs::String>("place", 1000, boost::bind(&pubgoal::get_place, this, _1));
        把檔名讀進place裡面
        

  
      status_CB:
      	rob_statue_sub=n.subscribe("/move_base/result_",1,&pubgoal::statusCB,this);

    void pubgoal::statusCB(const move_base_msgs::MoveBaseActionResult::ConstPtr& msg)
    {
	if(msg->status.status ==3 ){
		std::cout<<"FUCKFUCK"<<std::endl;
		ROS_ERROR("%d",num);
		
		if(robot_multi_Z[goalID-1]==0.0)
			ros::Duration(3.5).sleep();
		ROS_ERROR("**********************%.2f",robot_multi_x.size());
		if(goalID<=robot_multi_x.size()-1){
			goal.header.frame_id = "/map";
			goal.header.stamp = ros::Time::now();
       			goal.pose.position.x = robot_multi_x[goalID];
       			goal.pose.position.y = robot_multi_y[goalID];
			goal.pose.position.z = robot_multi_Z[goalID];
			goal.pose.orientation.z = robot_multi_z[goalID];
        		goal.pose.orientation.w = robot_multi_w[goalID];
			rob_goal_pub.publish(goal);
			//ros::Duration(0.5).sleep();
			//rob_goal_pub.publish(goal);
			//ros::Duration(0.5).sleep();
			//rob_goal_pub.publish(goal);
			ROS_INFO("Initial goal published! Goal ID is: %d",goalID);
			goalID++;
		}  
        
        
        
TX2 開效能:

    sudo nvpmodel -m 0
    sudo ~/jetson_clocks.sh
    

        
        
        
        

    






