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CG1112 ALEX Project

TLS

Running server

go to ./PI/TLS_server command to start server :

./tls-alex-server

Compiling server files

go to ./PI/TLS_server run this command to compile:

g++ tls-alex-server.cpp tls_server_lib.cpp tls_pthread.cpp make_tls_server.cpp tls_common_lib.cpp serial.cpp serialize.cpp -pthread -lssl -lcrypto -o tls-alex-server

Running client

go to ./Laptop/TLS_client command to start client :

./tls-alex-client

Compiling client files

go to ./Laptop/TLS_client run this command to compile:

g++ tls-alex-client.cpp make_tls_client.cpp tls_client_lib.cpp tls_pthread.cpp tls_common_lib.cpp -pthread -lssl -lcrypto -o tls-alex-client

LIDAR

Running LIDAR and RVIZ

steps to start the lidar

  1. start roscore on Raspberry Pi
  2. run command on Raspberry Pi 
    source PI/PI_slam/devel/setup.bash
roslaunch rplidar_ros rplidar.launch
  3. run command on own laptop 
    source Laptop/Laptop_slam/devel/setup.bash
roslaunch rplidar_ros view_hectorSlam.launch
    **Changes were made to files inside the Laptop/Laptop_slam/src/rplidar_ros/launch folder

Configure ROS master and slave

  • Under own laptop add the following line to .bashrc 
    export ROS_MASTER_URI=http://172.20.10.10:11311/
  • In Raspberry Pi add the following line to .bashrc 
    export ROS_MASTER_URI=http://lcoalhost:11311/

Power saving

On Raspberry Pi, run the following lines

  • Turn off HDMI: 
    /usr/bin/tvservice -o