comandos.txt

/////      BASICS

--Launch gazebo with papeleras.world

 ros2 launch higgs2 launch_sim.launch.py  

--Launch rviz2 (might be on the above)

ros2 run rviz2 rviz2 -d src/higgs2/config/view_bot.rviz --ros-args -p use_sim_time:=true

/////       SLAM AND NAV2

--Launch slam_toolbox for map

ros2 launch higgs2 online_async_launch.py params_file:=./src/higgs2/config/mapper_params_online_async.yaml use_sim_time:=true

--Launch nav2 normal

ros2 launch higgs2  navigation_launch.py use_sim_time:=true

--Launch nav2 LOCALIZATION (amcl paso 1)

ros2 launch higgs2 localization_launch.py use_sim_time:=true

--Launch nav2 NAVIGATION  (amcl paso 2)

ros2 launch higgs2  navigation_launch.py use_sim_time:=true map_subscribe_transient_local:=true

/////        HELP

--Kill gazebo

alias killgazebo="killall -9 gazebo & killall -9 gzserver  & killall -9 gzclient"

--Launch teleop keyboard

ros2 run teleop_twist_keyboard teleop_twist_keyboard

--Motor demo

1st give permission:
    sudo chmod 666 /dev/ttyACM0
    carduino
miniterm -e /dev/ttyACM0 57600

--Launch ROBOT

ros2 launch higgs2 launch_robot.launch.py 

ros2 launch higgs2 joystick.launch.py 


//ros2 launch higgs2 rsp.launch.py use_sim_time:=true

//SERVER

npm start (on ros-ui-react/example)
ros2 launch higgs2 joystick.launch.py
ros2 launch higgs2 launch_sim.launch.py 
ros2 run rosbridge_server rosbridge_websocket
ros2 run rosapi rosapi_node 
ros2 run web_video_server web_video_server 


//LIDAR REAL ROBOT CRASH
From other ssh run: killall rplidar_composition