{"id":62,"date":"2024-04-04T08:01:26","date_gmt":"2024-04-04T05:01:26","guid":{"rendered":"https:\/\/sisu.ut.ee\/rosak\/remap\/"},"modified":"2024-04-04T08:03:56","modified_gmt":"2024-04-04T05:03:56","slug":"remap","status":"publish","type":"page","link":"https:\/\/sisu.ut.ee\/rosak\/remap\/","title":{"rendered":"8. Rubriigi nime muutmine"},"content":{"rendered":"<blockquote>\n<p>\n\t\tN\u00fc\u00fcdseks teame, et saame k\u00e4ivitada erinevaid ROSi <strong>s\u00f5lmesid<\/strong> v\u00f5i <strong>k\u00e4ivitusfaile<\/strong>, mida leiame olemasolevatest <strong>kimpudest<\/strong>.\n\t<\/p>\n<p>\n\t\tMis aga siis, kui meil on olemas kaks s\u00f5lme, millest \u00fcks oskab \u00f5igeid <strong>s\u00f5numeid<\/strong> <strong>kuulutada<\/strong> ja teine neid <strong>tellida<\/strong>, aga <strong>rubriik<\/strong>, milles esimene s\u00f5numeid kuulutab, <strong>ei ole sama<\/strong>, mis see, kus teine neid tellida soovib?\n\t<\/p>\n<p>\n\t\tSelle probleemi lahendamiseks saame s\u00f5lmesid k\u00e4ivitades rubriikide <strong>nimesid muuta<\/strong>.\n\t<\/p>\n<p>\n\t\tHarjutuse sooritamiseks on vaja ligip\u00e4\u00e4su Ubuntu ja ROSiga arvutile, kuhu on paigaldatud kimbud <span style=\"font-family:Courier New,Courier,monospace\">teleop_twist_keyboard<\/span> ja <span style=\"font-family:Courier New,Courier,monospace\">turtlesim<\/span>. Kui kasutad kursuse korraldajate poolt pakutud s\u00fcsteemi, siis on need kimbud juba paigaldatud.\n\t<\/p>\n<p>\n\t\t<strong>Harjutus ei ole m\u00f5eldud l\u00e4bimiseks f\u00fc\u00fcsilise robotiga.<\/strong>\n\t<\/p>\n<p>\n\t\t<em><span>Samm-sammulise juhendi vaatamiseks klikka harjutuse vahepealkirjadele.<\/span><\/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-69f3592a3634c-heading\">\n            <button class=\"accordion-button collapsed\" type=\"button\" data-bs-toggle=\"collapse\" data-bs-target=\"#accordion-69f3592a3634c-collapse\" aria-expanded=\"true\" aria-controls=\"accordion-69f3592a3634c-collapse\"><strong>1. Sobimatute rubriikide \u00fclesseadmine<\/strong><\/button>\n        <\/h2>\n        <div id=\"accordion-69f3592a3634c-collapse\" class=\"accordion-collapse collapse\" aria-labelledby=\"accordion-69f3592a3634c-heading\">\n            <div class=\"accordion-body\">Alustame kahe ROSi s\u00f5lme k\u00e4ivitamisest.\n\n<p>\n\tK\u00f5igepealt tee kindlaks, et \u00fches terminaliaknas on k\u00e4ivitatud ROSi tuum:\n<\/p>\n<pre>roscore<\/pre>\n<p>\n\tSiis ava veel kolm terminaliakent.\n<\/p>\n<p>\n\t\u00dches k\u00e4ivita juba tuntud <span style=\"font-family:Courier New,Courier,monospace\">teleop_twist_keyboard.py<\/span> s\u00f5lm kimbust <span style=\"font-family:Courier New,Courier,monospace\">teleop_twist_keyboard<\/span>:\n<\/p>\n<pre>rosrun teleop_twist_keyboard teleop_twist_keyboard.py<\/pre>\n<p>\n\tTeises k\u00e4ivita s\u00f5lm nimega <span style=\"font-family:Courier New,Courier,monospace\">turtlesim_node<\/span> kimbust <span style=\"font-family:Courier New,Courier,monospace\">turtlesim<\/span>:\n<\/p>\n<pre>rosrun turtlesim turtlesim_node<\/pre>\n<p>\n\tAvaneb aken, kus on pealtvaates n\u00e4ha v\u00e4ikest kilpkonnakujutist.\n<\/p>\n<p>\n\tKolmandas kasuta t\u00f6\u00f6riista <span style=\"font-family:Courier New,Courier,monospace\">rosnode<\/span>, et n\u00e4ha, mis rubriikidel kuulutatakse ja mida tellitakse:\n<\/p>\n<pre>rosnode list\r\nrosnode info \/teleop_twist_keyboard\r\nrosnode info \/turtlesim<\/pre>\n<p>\n\tUuri nende k\u00e4skude v\u00e4ljundit. N\u00e4ed seal, et <span style=\"font-family:Courier New,Courier,monospace\">teleop_twist_keyboard<\/span> kuulutab rubriigis <span style=\"font-family:Courier New,Courier,monospace\">\/cmd_vel<\/span> (see on kirjas teise k\u00e4su v\u00e4ljundi \u201cPublications\u201d osas), aga <span style=\"font-family:Courier New,Courier,monospace\">turtlesim<\/span> tellib rubriiki <span style=\"font-family:Courier New,Courier,monospace\">\/turtle1\/cmd_vel<\/span> (see on kirjas kolmanda k\u00e4su v\u00e4ljundi \u201cSubscriptions\u201d osas).\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-69f3592a36362-heading\">\n            <button class=\"accordion-button collapsed\" type=\"button\" data-bs-toggle=\"collapse\" data-bs-target=\"#accordion-69f3592a36362-collapse\" aria-expanded=\"true\" aria-controls=\"accordion-69f3592a36362-collapse\"><strong>2. Tellija k\u00e4ivitamine<\/strong><\/button>\n        <\/h2>\n        <div id=\"accordion-69f3592a36362-collapse\" class=\"accordion-collapse collapse\" aria-labelledby=\"accordion-69f3592a36362-heading\">\n            <div class=\"accordion-body\">Peata s\u00f5lme <span style=\"font-family:Courier New,Courier,monospace\">turtlesim<\/span> t\u00f6\u00f6 kasutades klahvikombinatsiooni <span style=\"font-family:Courier New,Courier,monospace\">Ctrl+C<\/span>, kuid j\u00e4ta <span style=\"font-family:Courier New,Courier,monospace\">teleop_twist_keyboard<\/span> t\u00f6\u00f6le.\n\n<p>\n\tK\u00e4ivitame s\u00f5lme <span style=\"font-family:Courier New,Courier,monospace\">turtlesim<\/span> uuesti, kuid seekord \u00fctleme talle, et soovime, et ta kasutaks rubriigi <span style=\"font-family:Courier New,Courier,monospace\">turtle1\/cmd_vel<\/span> asemel rubriiki <span style=\"font-family:Courier New,Courier,monospace\">cmd_vel<\/span>. Seda saame teha, lisades k\u00e4su l\u00f5ppu <span style=\"font-family:Courier New,Courier,monospace\">turtle1\/cmd_vel:=cmd_vel<\/span>:\n<\/p>\n<pre>rosrun turtlesim turtlesim_node turtle1\/cmd_vel:=cmd_vel<\/pre>\n<p>\n\tProovi n\u00fc\u00fcd aktiveerida terminaliaken, kus jookseb <span style=\"font-family:Courier New,Courier,monospace\">teleop_twist_keyboard<\/span> s\u00f5lm, ja sealt juhtida kilpkonna.\n<\/p>\n<p>\n\tNiimoodi <strong>nimetasime rubriigi \u00fcmber<\/strong>. Seda saab k\u00f5igi k\u00e4skude puhul alati teha \u00fchtmoodi: tuleb k\u00e4sule lisada <span style=\"font-family:Courier New,Courier,monospace\">:=<\/span>-ga eraldatult rubriigi nimi, mida s\u00f5lm vaikimisi kasutab, ja rubriigi nimi, mida soovime, et ta kasutaks.\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-69f3592a36366-heading\">\n            <button class=\"accordion-button collapsed\" type=\"button\" data-bs-toggle=\"collapse\" data-bs-target=\"#accordion-69f3592a36366-collapse\" aria-expanded=\"true\" aria-controls=\"accordion-69f3592a36366-collapse\"><strong>3. Kuulutaja k\u00e4ivitamine<\/strong><\/button>\n        <\/h2>\n        <div id=\"accordion-69f3592a36366-collapse\" class=\"accordion-collapse collapse\" aria-labelledby=\"accordion-69f3592a36366-heading\">\n            <div class=\"accordion-body\">Eelmises sammus panime tellija tellima teistsugust rubriiki. Saame tegelikult sama teha ka kuulutajaga.\n\n<p>\n\tPeata nii s\u00f5lme <span style=\"font-family:Courier New,Courier,monospace\">turtlesim<\/span> kui ka s\u00f5lme <span style=\"font-family:Courier New,Courier,monospace\">teleop_twist_keyboard<\/span> t\u00f6\u00f6, vajutades vastavates terminaliaknates klahvikombinatsiooni <span style=\"font-family:Courier New,Courier,monospace\">Ctrl+C<\/span> ajal, mil nad on aktiivsed.\n<\/p>\n<p>\n\tN\u00fc\u00fcd k\u00e4ivita <span style=\"font-family:Courier New,Courier,monospace\">turtlesim<\/span> uuesti samamoodi, nagu esimeses sammus, ilma rubriike \u00fcmber nimetamata:\n<\/p>\n<pre>rosrun turtlesim turtlesim_node<\/pre>\n<p>\n\tSeej\u00e4rel k\u00e4ivita <span style=\"font-family:Courier New,Courier,monospace\">teleop_twist_keyboard<\/span>, muutes rubriigi <span style=\"font-family:Courier New,Courier,monospace\">cmd_vel<\/span> nime:\n<\/p>\n<pre>rosrun teleop_twist_keyboard teleop_twist_keyboard.py cmd_vel:=turtle1\/cmd_vel<\/pre>\n<p>\n\tN\u00fc\u00fcd saad proovida uuesti kilpkonna liigutada \u2013 seda saab j\u00e4lle teha. Kui vaatad <span style=\"font-family:Courier New,Courier,monospace\">rostopic info \/turtle1\/cmd_vel<\/span> k\u00e4suga selle rubriigi kuulutajaid ja tellijaid, siis n\u00e4ed, et \u00fcks s\u00f5lm kuulutab sellesse rubriiki ja teine tellib.\n<\/p>\n<p>\n\t<\/p><\/div>\n        <\/div>\n        <\/div>\n    <\/div>\n","protected":false},"excerpt":{"rendered":"<p>N\u00fc\u00fcdseks teame, et saame k\u00e4ivitada erinevaid ROSi s\u00f5lmesid v\u00f5i k\u00e4ivitusfaile, mida leiame olemasolevatest kimpudest. Mis aga siis, kui meil on olemas kaks s\u00f5lme, millest \u00fcks oskab \u00f5igeid s\u00f5numeid kuulutada ja teine neid tellida, aga rubriik, milles esimene s\u00f5numeid kuulutab, ei &#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-62","page","type-page","status-publish","hentry"],"acf":[],"_links":{"self":[{"href":"https:\/\/sisu.ut.ee\/rosak\/wp-json\/wp\/v2\/pages\/62","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=62"}],"version-history":[{"count":1,"href":"https:\/\/sisu.ut.ee\/rosak\/wp-json\/wp\/v2\/pages\/62\/revisions"}],"predecessor-version":[{"id":339,"href":"https:\/\/sisu.ut.ee\/rosak\/wp-json\/wp\/v2\/pages\/62\/revisions\/339"}],"wp:attachment":[{"href":"https:\/\/sisu.ut.ee\/rosak\/wp-json\/wp\/v2\/media?parent=62"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}