Explore environment

Here are a few things you might want to do to determine the environment you are working in.

See what's there

At a terminal prompt, use this command to list relevant environment variables.

$ env | grep MIRO MIRO_STATIC_IP= MIRO_DIR_TRASH=/home/miro/.miro2/trash MIRO_NETWORK_MODE=dynamic MIRO_DIR_PID=/tmp/miro2/pid MIRO_DIR_STATE=/run/user/1001/miro2/state MIRO_DIR_LOG=/tmp/miro2/log MIRO_SPEAK_IP=1 MIRO_DYNAMIC_IP_MATCH=^[0-9]{1,3}\.[0-9]{1,3}\.[0-9]{1,3}\.[0-9]{1,3}$ MIRO_SYSTEM_UPDATE_SCHEDULE=never MIRO_DIR_DUMP=/tmp/miro2/dump MIRO_ROBOT_NAME=miro MIRO_DIR_SHARE=/home/miro/mdk/share MIRO_MDK_RELEASE=R191016 MIRO_DIR_MDK=/home/miro/mdk MIRO_EDITION=2 MIRO_TOKEN=miro2 MIRO_DIR_ONBOARD=/home/miro/mdk/bin/onboard MIRO_MULTITOOL=/home/miro/mdk/bin/onboard/multitool.sh MIRO_DIR_CONFIG=/home/miro/.miro2/config MIRO_DIR_TMP=/tmp/miro2 MIRO_DYNAMIC_IP_WAIT=60 MIRO_DIR_BIN=/home/miro/mdk/bin/arm32 MIRO_ROS_RELEASE=kinetic MIRO_DIR_USER=/home/miro/.miro2 MIRO_USER_SETUP=/home/miro/.miro2/config/user_setup.bash MIRO_BRIDGE_FLAGS=l MIRO_SYSTEM=arm32

Am I using a robot?

ROS control clients will generally work on the robot or the simulator, but at times you may want to know which you are working with.

You can determine whether your script is actually running on a robot using something like this.

$ [[ `hostname` == miropi ]] && echo "This script is running on board a robot" || echo "No it isn't" This script is running on board a robot

$ [[ `hostname` == miropi ]] && echo "This script is running on board a robot" || echo "No it isn't" No it isn't

To determine if the target you are talking to on the ROS interface is a robot (or a simulator), look for the flag MIRO_PLATFORM_U_FLAG_SIMULATOR (miro.constants.PLATFORM_U_FLAG_SIMULATOR) in the ROS topic sensors/flags.

You can access this, and other tests, through RobotInterface() in Python, as follows.

import miro2 as miro i = miro.lib.RobotInterface() print i.target_supports("is_running_on_robot") print i.target_supports("is_robot")