On a local computer (which runs ROS Indigo), prepare three terminal tabs for the following machines:
- alan1 (c1 of PR2)
- alan2 (c2 of PR2)
- the local computer
First of all, connect to alan1.
ssh demos@alan1
Then, open a new screen with the following commands.
roscd sbpl_demos
screen -c screen_config/screenrc_alan1
Each tab of screen should have the required command to run on alan1.
Check for additional comments on each screen tab, and run the commands in the order of screen tabs.
Do the same things but for alan2.
ssh demos@alan2
roscd sbpl_demos
screen -c screen_config/screenrc_alan2
Open a new screen with the following commands.
roscd sbpl_demos
screen -c screen_config/screenrc_tatooine
As a side note, set up the sytem time to California loal time (PST or PDT), just like PR2, to avoid any issues related to tf buffer.
You can also use chrony
to syncing your computer to alanbase.
- Add
server alanbase minpoll 0 maxpoll 5 maxdelay 0.05
to your/etc/chrony/chrony.conf
- Restart
chrony
withinvoke-rc.d chrony restart
- Check time offset with
ntpdate -q alanbase