Merge branch 'multi_machine' into 'master'

Multi machine

See merge request !1

.vscode/c_cpp_properties.json

@@ -9,6 +9,7 @@
                 "/usr/include",
                 "/opt/ros/melodic/include",
                 "${workspaceFolder}/devel/include",
+                "${workspaceFolder}/devel/include/gl3w",
                 "${workspaceFolder}/src/charuco_detect/include",
                 "${workspaceFolder}/src/fiducials/fiducial_slam/include",
                 "${workspaceFolder}/src/iiwa_com/include",
@@ -16,15 +17,9 @@
                 "${workspaceFolder}/src/realsense/realsense2_camera/include",
                 "${workspaceFolder}/src/robo_guide/include",
                 "${workspaceFolder}/src/robo_guide_imarker/include",
+                "${workspaceFolder}/src/scigl_render/include",
                 "${workspaceFolder}/src/scigl_render_ros/include",
-                "${workspaceFolder}/src/fiducials/fiducial_slam/include",
-                "~/.conan",
-                "~/.conan/data/eigen/3.3.7/conan/stable/package/5ab84d6acfe1f23c4fae0ab88f26e3a396351ac9/include/eigen3",
-                "~/.conan/data/scigl_render/0.6/tuebel/testing/source/include",
-                "~/.conan/data/glm/0.9.9.1/g-truc/stable/package/5ab84d6acfe1f23c4fae0ab88f26e3a396351ac9/include",
-                "~/.conan/data/gl3w/0.2/tuebel/testing/package/bd296613bdf96784eee27d07e7101fa30484f901/include",
-                "~/.conan/data/glfw/3.2.1/bincrafters/stable/package/76480ff7af5ef6b0a1c8bc2444dbd480a5eaef8b/include",
-                "~/.conan/data/filter_bay/0.4.3/tuebel/testing/source/include"
+                "${workspaceFolder}/src/fiducials/fiducial_slam/include"
             ],
             "name": "Linux",
             "intelliSenseMode": "gcc-x64",

.vscode/launch.json

@@ -5,68 +5,11 @@
   "version": "0.2.0",
   "configurations": [
     {
-      "name": "Python: Terminal (integrated)",
-      "type": "python",
+      "name": "ROS: Launch",
       "request": "launch",
-      "program": "${file}",
-      "console": "integratedTerminal"
-    },
-    {
-      "name": "tracker_node",
-      "type": "cppdbg",
-      "request": "launch",
-      "program": "${workspaceFolder}/devel/lib/robo_guide/tracker_node",
-      "args": [],
-      "stopAtEntry": false,
-      "cwd": "${workspaceFolder}",
-      "environment": [],
-      "externalConsole": true,
-      "MIMode": "gdb",
-      "setupCommands": [
-        {
-          "description": "Enable pretty-printing for gdb",
-          "text": "-enable-pretty-printing",
-          "ignoreFailures": true
-        }
-      ]
-    },
-    {
-      "name": "init_marker",
-      "type": "cppdbg",
-      "request": "launch",
-      "program": "${workspaceFolder}/devel/lib/robo_guide_imarker/init_marker",
-      "args": [],
-      "stopAtEntry": false,
-      "cwd": "${workspaceFolder}",
-      "environment": [],
-      "externalConsole": true,
-      "MIMode": "gdb",
-      "setupCommands": [
-        {
-          "description": "Enable pretty-printing for gdb",
-          "text": "-enable-pretty-printing",
-          "ignoreFailures": true
-        }
-      ]
-    },
-    {
-      "name": "projector_node",
-      "type": "cppdbg",
-      "request": "launch",
-      "program": "${workspaceFolder}/devel/lib/scigl_render_ros/projector_node",
-      "args": [],
-      "stopAtEntry": false,
-      "cwd": "${workspaceFolder}",
-      "environment": [],
-      "externalConsole": false,
-      "MIMode": "gdb",
-      "setupCommands": [
-        {
-          "description": "Enable pretty-printing for gdb",
-          "text": "-enable-pretty-printing",
-          "ignoreFailures": true
-        }
-      ]
+      "target": "/home/medica/code/robo_guide_ws/src/robo_guide/launch/launch_all.launch",
+      "type": "ros",
+      "preLaunchTask": "source_robo_guide_ws"
     }
   ]
 }
\ No newline at end of file

.vscode/tasks.json

+{
+  // See https://go.microsoft.com/fwlink/?LinkId=733558
+  // for the documentation about the tasks.json format
+  "version": "2.0.0",
+  "tasks": [
+    {
+      "label": "source_robo_guide_ws",
+      "type": "shell",
+      "command": "source ~/code/robo_guide_ws/devel/setup.bash"
+    }
+  ]
+}
\ No newline at end of file

README.md

@@ -95,12 +95,27 @@ IP configuration:
 - jetson: 172.31.1.148
 - laptop: 172.31.1.149
 
-Configure on the laptop:
+To enable comfortable remote access setup ssh keys on the laptop and copy them to the jetson.
+It is important to add the jetson to the known hosts:
+
+```bash
+ssh-keygen -t rsa -b 4096 -C "email@example.com"
+ssh-copy-id -i .ssh/id_rsa.pub 
+ssh -oHostKeyAlgorithms='ssh-rsa' nvidia@172.31.1.148
+```
+
+Export the environment variables on te laptop (e.g. in .bashrc):
 ```bash
 export ROS_MASTER_URI=http://172.31.1.148:11311 # jetson as master
 export ROS_IP=172.31.1.149
 ```
 
+And on the jetson:
+```bash
+export ROS_MASTER_URI=http://172.31.1.148:11311 # jetson as master
+export ROS_IP=172.31.1.8
+```
+
 Optionally add them to /etc/hosts for easier ssh commands:
 ```bash
 172.31.1.147 iiwa

jetson_env.sh

+#!/usr/bin/env bash
+
+# multi machine setup
+export ROS_MASTER_URI=http://172.31.1.149:11311 # laptop as master
+export ROS_IP=172.31.1.148 # jetson static ip
+# setup display for GL support
+export DISPLAY=:0
+
+# source the workspace
+source /home/nvidia/code/robo_guide_ws/devel/setup.bash
+
+exec "$@"

robo_guide.code-workspace

@@ -11,71 +11,7 @@
 		],
 		"python.pythonPath": "/usr/bin/python",
 		"files.associations": {
-			"*.mb": "markdown",
-			"cctype": "cpp",
-			"clocale": "cpp",
-			"cmath": "cpp",
-			"cstdarg": "cpp",
-			"cstddef": "cpp",
-			"cstdio": "cpp",
-			"cstdlib": "cpp",
-			"cstring": "cpp",
-			"ctime": "cpp",
-			"cwchar": "cpp",
-			"cwctype": "cpp",
-			"array": "cpp",
-			"atomic": "cpp",
-			"strstream": "cpp",
-			"*.tcc": "cpp",
-			"chrono": "cpp",
-			"complex": "cpp",
-			"condition_variable": "cpp",
-			"cstdint": "cpp",
-			"deque": "cpp",
-			"list": "cpp",
-			"unordered_map": "cpp",
-			"vector": "cpp",
-			"exception": "cpp",
-			"fstream": "cpp",
-			"functional": "cpp",
-			"initializer_list": "cpp",
-			"iomanip": "cpp",
-			"iosfwd": "cpp",
-			"iostream": "cpp",
-			"istream": "cpp",
-			"limits": "cpp",
-			"memory": "cpp",
-			"mutex": "cpp",
-			"new": "cpp",
-			"optional": "cpp",
-			"ostream": "cpp",
-			"ratio": "cpp",
-			"sstream": "cpp",
-			"stdexcept": "cpp",
-			"streambuf": "cpp",
-			"string_view": "cpp",
-			"system_error": "cpp",
-			"thread": "cpp",
-			"cinttypes": "cpp",
-			"type_traits": "cpp",
-			"tuple": "cpp",
-			"typeinfo": "cpp",
-			"utility": "cpp",
-			"csignal": "cpp",
-			"bitset": "cpp",
-			"future": "cpp",
-			"numeric": "cpp",
-			"typeindex": "cpp",
-			"hash_map": "cpp",
-			"hash_set": "cpp",
-			"unordered_set": "cpp",
-			"*.vs": "cpp",
-			"*.frag": "cpp",
-			"*.comp": "glsl",
-			"*.ipp": "cpp",
-			"core": "cpp",
-			"numericaldiff": "cpp",
-			"string": "cpp"
+			"*.yaml": "home-assistant"
 		},
 		"ros.distro": "melodic"
 	}

robo_guide @ bb4dc143

-Subproject commit c162da0c41f5f146b5cb891412976eb8d2331ec2
+Subproject commit bb4dc143c5290519f1dfe2242c15928308120764

scigl_render @ 9a6e8581

-Subproject commit 5e5328d30339edb0800eaf0aa456453b5cd74bd3
+Subproject commit 9a6e8581b2c19681b9a810e8f45b0d2937d30fc9

scigl_render_ros @ 09eecabb

-Subproject commit 9ae7cef21ba84ce354ded67df3850f9fcf568d9e
+Subproject commit 09eecabbb224cd8bd6da85cab7030f35d069b742