VijayPradeep

Tricks

PR2 Cradlepoint SSH Port forwarding

ssh prl -L 8080:10.68.0.250:80

http://localhost:8080 will now be redirected to 10.68.0.250:80 on PRL

Grab packets going to a specific IP

tcpdump -i lan0 dst 10.68.0.197 -n -X -c1

Get quadrotor running

Pair an ardrone with a robot

iwconfig ath0 mode managed essid prlLAN; iwconfig ath0 channel 3; ifconfig ath0 10.68.0.197 netmask 255.255.255.0 up; route add default gw 10.68.0.1

See this post: http://www.ardrone-flyers.com/forum/viewtopic.php?f=8&t=374

Pair with willow:

iwconfig ath0 mode managed essid willow; iwconfig ath0 channel 11; ifconfig ath0 10.0.128.2 netmask 255.255.254.0 up; route add default gw 10.0.128.1

Figure out the channel by Scanning Wifi:

iwlist ath0 scan

Access point near Tully's Office is

00:24:6c:87:81:20

Get the code

hg clone https://kforge.ros.org/sandbox/ardrone

or grab it off of PRO:

scp pro:/u/vpradeep/overlay/ardrone [DEST]

or run it from my home directory

source /opt/ros/diamondback/setup.bash
source /u/vpradeep/ros_overlays/ardrone/setup.bash

Running the code

roscd ardrone_brown
./build_sdk.sh
make
rosrun ardrone_brown ardrone_driver -ardrone_ip=10.0.128.2

Start the teleop code in another window

roslaunch ardrone_teleop quadrotor.launch

fw1 DHCP Leases: http://fw1/cgi-bin/dhcp/dhcp.py

serial console

http://www.ardrone-flyers.com/forum/viewtopic.php?f=8&t=829&start=15

FTDI Docs:

Basestations

• prbase2 (pro)

• prbase3 (pri, prn)

• prbase4 (prk, prl,. prm)

• axx (pr10*)

Bagfiles

• On Robot: /hwlog

• On Basestation: /home/hwlog

• On WG Servers: /wg/wgss0_shelf5/bags/hwlogs/ & /wg/wgss0_shelf4/hwlogs/001517c0137f/new

Bookmarks

• Best explanation of virtual inheritance that I've seen in a while:

  • http://www.phpcompiler.org/articles/virtualinheritance.html

Bash

Run a command with backticks on every bagfile in a folder

find -type f -name "*.bag" -exec bash -c 'echo {} $(basename {})' \;

Makefiles

Description of all the special makefile characters http://www.cprogramming.com/tutorial/makefiles_continued.html

Debugging Shared Libraries

Determine an so's realname:

• objdump -p [libname.so] | grep SONAME

Determine an executable's rpath (it is stored in the 'Dynamic Section' of the binary):

• readelf -d [binary_name]

---

CategoryHomepage