{"id":11,"date":"2024-04-04T08:01:21","date_gmt":"2024-04-04T05:01:21","guid":{"rendered":"https:\/\/sisu.ut.ee\/rosak\/kuulutaja-katsetamine\/"},"modified":"2024-04-04T08:03:59","modified_gmt":"2024-04-04T05:03:59","slug":"kuulutaja-katsetamine","status":"publish","type":"page","link":"https:\/\/sisu.ut.ee\/rosak\/kuulutaja-katsetamine\/","title":{"rendered":"7. Kuulutaja katsetamine"},"content":{"rendered":"<blockquote>\n<p>\n\t\t<strong><span id=\"docs-internal-guid-17b520a6-7fff-14ac-70a7-a98d59ef14e0\">N\u00fc\u00fcd, kui meil on kuulutaja loodud, proovime seda p\u00e4riselt k\u00e4ivitada. Lisaks sellele katsetame erinevaid liikumisk\u00e4su v\u00e4\u00e4rtuseid.<\/span><\/strong>\n\t<\/p>\n<p>\n\t\t<em>Samm-sammulise harjutuse vaatamiseks kliki vahepealkirjadele.<\/em>\n\t<\/p>\n<\/blockquote>\n<p>\n\t<\/p><div class=\"accordion mb-3\">\n        <div class=\"accordion-item accordion-item--white\">\n        <h2 class=\"accordion-header\" id=\"accordion-69f3c2214dd4a-heading\">\n            <button class=\"accordion-button collapsed\" type=\"button\" data-bs-toggle=\"collapse\" data-bs-target=\"#accordion-69f3c2214dd4a-collapse\" aria-expanded=\"true\" aria-controls=\"accordion-69f3c2214dd4a-collapse\"><strong>K\u00e4ivitamis\u00f5iguste lisamine<\/strong><\/button>\n        <\/h2>\n        <div id=\"accordion-69f3c2214dd4a-collapse\" class=\"accordion-collapse collapse\" aria-labelledby=\"accordion-69f3c2214dd4a-heading\">\n            <div class=\"accordion-body\">K\u00f5igepealt on meil vaja vastloodud s\u00f5lmele anda juurde k\u00e4ivitamis\u00f5igused \u2013 siis teab ROS, et seda tekstifaili saab k\u00e4ivitada koodina.\n\n<p>\n\t<span id=\"docs-internal-guid-0e2d6cf2-7fff-45ef-bae9-c3f8c15c91cf\">Liigu terminalis kausta, kus asub meie loodud Pythoni fail.<\/span>\n<\/p>\n<p>\n\t<span id=\"docs-internal-guid-a27a4106-7fff-5d77-bde7-a2083f96791f\">Siis anna sellele k\u00e4ivitamis\u00f5igused k\u00e4suga <span style=\"font-family:Courier New,Courier,monospace\">chmod u+x failinimi<\/span>. T\u00e4psemini on see hetkel<\/span>\n<\/p>\n<pre><span id=\"docs-internal-guid-73acc3d5-7fff-9881-63be-c6370ba43637\">chmod u+x simple_velocity_publisher.py<\/span><\/pre>\n<p>\n\t<\/p><\/div>\n        <\/div>\n        <\/div>\n    <\/div>\n\n<p>\n\t<\/p><div class=\"accordion mb-3\">\n        <div class=\"accordion-item accordion-item--white\">\n        <h2 class=\"accordion-header\" id=\"accordion-69f3c2214dd51-heading\">\n            <button class=\"accordion-button collapsed\" type=\"button\" data-bs-toggle=\"collapse\" data-bs-target=\"#accordion-69f3c2214dd51-collapse\" aria-expanded=\"true\" aria-controls=\"accordion-69f3c2214dd51-collapse\"><strong>Kompileerimine, laadimine, k\u00e4ivitamine<\/strong><\/button>\n        <\/h2>\n        <div id=\"accordion-69f3c2214dd51-collapse\" class=\"accordion-collapse collapse\" aria-labelledby=\"accordion-69f3c2214dd51-heading\">\n            <div class=\"accordion-body\">J\u00e4rgmiste sammudena peame catkini t\u00f6\u00f6ruumi <strong>kompileerima<\/strong>.\n\n<p>\n\t<span id=\"docs-internal-guid-a0e5a3d7-7fff-2054-a1c9-15d000a00cfe\">P\u00e4rast seda peame selle ka <\/span><strong><span>laadima<\/span><\/strong><span>.<\/span>\n<\/p>\n<p>\n\t<span id=\"docs-internal-guid-185989ef-7fff-463d-7d82-6ebb9dcb5954\">Siis sooviksime n\u00e4ha, kas meie kood ka midagi teeb. K\u00f5ige lihtsam viis seda n\u00e4ha on kuulata pealt <span style=\"font-family:Courier New,Courier,monospace\">cmd_vel<\/span> rubriigis kuulutatud s\u00f5numeid.<\/span>\n<\/p>\n<p>\n\t<span id=\"docs-internal-guid-26141efe-7fff-7646-e317-3e2a3c00759b\">K\u00e4ivita <span style=\"font-family:Courier New,Courier,monospace\">roscore<\/span> ja seej\u00e4rel sisesta teises terminaliaknas tuttav k\u00e4sk<\/span>\n<\/p>\n<pre><span id=\"docs-internal-guid-24e173a4-7fff-b128-2a23-d6ae31f47636\">rostopic echo cmd_vel<\/span><\/pre>\n<p>\n\t<span id=\"docs-internal-guid-550b15f8-7fff-ea9b-d9dc-8b64f28fdab3\">Viimaseks k\u00e4ivitame oma vastloodud s\u00f5lme. K\u00e4ivita uues aknas meie s\u00f5lm <span style=\"font-family:Courier New,Courier,monospace\">simple_velocity_publisher.py<\/span> kimbust <span style=\"font-family:Courier New,Courier,monospace\">geometric_shapes<\/span>. Seej\u00e4rel vaata, kas <span style=\"font-family:Courier New,Courier,monospace\">rostopic echo <\/span>aknas on kuvatud meie koodi kuulutatud s\u00f5num.<\/span>\n<\/p>\n<p>\n\t<\/p><\/div>\n        <\/div>\n        <\/div>\n    <\/div>\n\n<p>\n\t<\/p><div class=\"accordion mb-3\">\n        <div class=\"accordion-item accordion-item--white\">\n        <h2 class=\"accordion-header\" id=\"accordion-69f3c2214dd56-heading\">\n            <button class=\"accordion-button collapsed\" type=\"button\" data-bs-toggle=\"collapse\" data-bs-target=\"#accordion-69f3c2214dd56-collapse\" aria-expanded=\"true\" aria-controls=\"accordion-69f3c2214dd56-collapse\"><strong>Kas robot liigub ka?<\/strong><\/button>\n        <\/h2>\n        <div id=\"accordion-69f3c2214dd56-collapse\" class=\"accordion-collapse collapse\" aria-labelledby=\"accordion-69f3c2214dd56-heading\">\n            <div class=\"accordion-body\">Kui oleme kindlaks teinud, et meie kood kuulutab s\u00f5numeid <span style=\"font-family:Courier New,Courier,monospace\">cmd_vel<\/span> rubriigis, siis v\u00f5ime proovida, kas see ka robotit liigutab.\n\n<p>\n\t<span id=\"docs-internal-guid-dc99c402-7fff-8458-7430-99879283c503\">K\u00e4ivita robotondi simulaator <span style=\"font-family:Courier New,Courier,monospace\">fake_driver<\/span> abil:<\/span>\n<\/p>\n<pre><span id=\"docs-internal-guid-e6bf3c16-7fff-b491-3b95-c95314efcb88\">roslaunch robotont_driver fake_driver.launch<\/span><\/pre>\n<p>\n\t<span id=\"docs-internal-guid-ab332db7-7fff-d9f1-ad20-5b247f8f00fd\">N\u00fc\u00fcd v\u00f5ta lahti terminaliaken, kus saad k\u00e4ivitada meie loodud koodi, nagu eelmiseski sammus. Liiguta aknad n\u00f5nda, et n\u00e4eksid samaaegselt nii RVizi akent kui ka saaksid sisestada k\u00e4sku meie koodi k\u00e4ivitamiseks. Vajadusel tee aknaid v\u00e4iksemaks.<\/span>\n<\/p>\n<p>\n\t<span id=\"docs-internal-guid-de0a179b-7fff-f5ae-abbc-9e3248b2d92b\">K\u00e4ivita <span style=\"font-family:Courier New,Courier,monospace\">simple_velocity_publisher.py<\/span> ja vaata, kas see liigutab robotit.<\/span>\n<\/p>\n<p>\n\t<\/p><\/div>\n        <\/div>\n        <\/div>\n    <\/div>\n\n<p>\n\t<\/p><div class=\"accordion mb-3\">\n        <div class=\"accordion-item accordion-item--white\">\n        <h2 class=\"accordion-header\" id=\"accordion-69f3c2214dd5b-heading\">\n            <button class=\"accordion-button collapsed\" type=\"button\" data-bs-toggle=\"collapse\" data-bs-target=\"#accordion-69f3c2214dd5b-collapse\" aria-expanded=\"true\" aria-controls=\"accordion-69f3c2214dd5b-collapse\"><strong>Muudes suundades liikumine<\/strong><\/button>\n        <\/h2>\n        <div id=\"accordion-69f3c2214dd5b-collapse\" class=\"accordion-collapse collapse\" aria-labelledby=\"accordion-69f3c2214dd5b-heading\">\n            <div class=\"accordion-body\">N\u00fc\u00fcd v\u00f5iksime katsetada, kas suudame robotit ka teistmoodi liikuma panna.\n\n<p>\n\t<span id=\"docs-internal-guid-253a92bc-7fff-8d97-34a5-eb7577cdcc8d\">Muuda m\u00f5nd Twist-s\u00f5numi v\u00e4\u00e4rtust koodis, salvesta kood ja k\u00e4ivita see uuesti. Pythoni koodi puhul on hea see, et me ei pea iga kord catkini t\u00f6\u00f6ruumi uuesti kompileerima \u2013 C++ koodi kirjutades peaksime seda tegema.<\/span>\n<\/p>\n<p dir=\"ltr\" id=\"docs-internal-guid-20830243-7fff-abc7-4a89-8ca2fc513f0d\" style=\"line-height:1.38;margin-top:0pt;margin-bottom:0pt\">\n\t<span>Proovi v\u00e4lja m\u00f5elda (ja j\u00e4rgi proovida), kuidas panna robotit liikuma:<\/span>\n<\/p>\n<ul style=\"margin-top:0;margin-bottom:0;padding-inline-start:48px\">\n<li dir=\"ltr\">\n<p dir=\"ltr\" role=\"presentation\" style=\"line-height:1.38;margin-top:0pt;margin-bottom:0pt\">\n\t\t\t<span>tagurpidi;<\/span>\n\t\t<\/p>\n<\/li>\n<li dir=\"ltr\">\n<p dir=\"ltr\" role=\"presentation\" style=\"line-height:1.38;margin-top:0pt;margin-bottom:0pt\">\n\t\t\t<span>k\u00fclgepidi vasakule;<\/span>\n\t\t<\/p>\n<\/li>\n<li dir=\"ltr\">\n<p dir=\"ltr\" role=\"presentation\" style=\"line-height:1.38;margin-top:0pt;margin-bottom:0pt\">\n\t\t\t<span>k\u00fclgepidi paremale;<\/span>\n\t\t<\/p>\n<\/li>\n<li dir=\"ltr\">\n<p dir=\"ltr\" role=\"presentation\" style=\"line-height:1.38;margin-top:0pt;margin-bottom:0pt\">\n\t\t\t<span>p\u00f6\u00f6rama;<\/span>\n\t\t<\/p>\n<\/li>\n<li dir=\"ltr\">\n<p dir=\"ltr\" role=\"presentation\" style=\"line-height:1.38;margin-top:0pt;margin-bottom:0pt\">\n\t\t\t<span>liikuma diagonaalis;<\/span>\n\t\t<\/p>\n<\/li>\n<li dir=\"ltr\">\n<p dir=\"ltr\" role=\"presentation\" style=\"line-height:1.38;margin-top:0pt;margin-bottom:0pt\">\n\t\t\t<span>kiiremini.<\/span>\n\t\t<\/p>\n<\/li>\n<\/ul>\n<p>\n\t<\/p><\/div>\n        <\/div>\n        <\/div>\n    <\/div>\n","protected":false},"excerpt":{"rendered":"<p>N\u00fc\u00fcd, kui meil on kuulutaja loodud, proovime seda p\u00e4riselt k\u00e4ivitada. Lisaks sellele katsetame erinevaid liikumisk\u00e4su v\u00e4\u00e4rtuseid. Samm-sammulise harjutuse vaatamiseks kliki vahepealkirjadele. K\u00e4ivitamis\u00f5iguste lisamine K\u00f5igepealt on meil vaja vastloodud s\u00f5lmele anda juurde k\u00e4ivitamis\u00f5igused \u2013 siis teab ROS, et seda tekstifaili saab &#8230;<\/p>\n","protected":false},"author":98,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"_acf_changed":false,"inline_featured_image":false,"footnotes":""},"class_list":["post-11","page","type-page","status-publish","hentry"],"acf":[],"_links":{"self":[{"href":"https:\/\/sisu.ut.ee\/rosak\/wp-json\/wp\/v2\/pages\/11","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/sisu.ut.ee\/rosak\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/sisu.ut.ee\/rosak\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/sisu.ut.ee\/rosak\/wp-json\/wp\/v2\/users\/98"}],"replies":[{"embeddable":true,"href":"https:\/\/sisu.ut.ee\/rosak\/wp-json\/wp\/v2\/comments?post=11"}],"version-history":[{"count":1,"href":"https:\/\/sisu.ut.ee\/rosak\/wp-json\/wp\/v2\/pages\/11\/revisions"}],"predecessor-version":[{"id":390,"href":"https:\/\/sisu.ut.ee\/rosak\/wp-json\/wp\/v2\/pages\/11\/revisions\/390"}],"wp:attachment":[{"href":"https:\/\/sisu.ut.ee\/rosak\/wp-json\/wp\/v2\/media?parent=11"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}