Roboy Skill Machine

Roboy Skill Machine is primarily used as a way to easily launch Roboy’s submodules (local and remote), such as Rasberry Pi with the Matrix creator or Roboy’s FPGA with plexus.

cd ~/catkin_ws/src
git clone https://github.com/Roboy/roboy_skill_machine.git
cd ..
catkin_make

Inside the launch or scripts folder, one will find ROS launch files and shell scripts for various modules. For example, LED control launch for Raspberry Pi is defined as follows:

<launch>
    
    <!-- Raspberry Pi name -->
    <machine name="192.168.0.222" address="192.168.0.222" default="true" user="pi" env-loader="/home/pi/workspace/devel/remote_env.sh" />

    <node name="leds" pkg="led_control" type="leds.py" output="screen" machine="192.168.0.222" />
</launch>

Substitute the name and IP address by you Raspberry’s IP. In Roboy Dashboard backend, make adjustments in the launch section inside function nodes if needed, as well.

This setup works only with static IPs and stored credentials (SSH keys using ssh-copy-id) between the server and the remote node.