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APPENDIX IV
WORKING WITH ROS
There are built in commands to operate Stencil 2 remotely. See the section on Synchronizing a
Customer Computer with Stencil 2 for details on how to set up ssh for remote operation.
MODE SWITCHING COMMANDS
At the Kaarta-Stencil> prompt on the remote computer prompt, you can type:
switch_to_mapping
switch_to_mapping_with_camera
switch_to_localization
switch_to_localization_with_camera
switch_to_localization_from_last
switch_to_localization_with_camera_from_last
Note: Switching the mode remotely will not show the current status on the desktop mode switching
icons.
START / STOP MAPPING USING ROS COMMANDS
At the Kaarta-Stencil> prompt on the remote computer prompt, you can type:
stencil_start
stencil_stop
These commands are the same as the big blue Play button on the Stencil 2 desktop. You should
open two ssh terminals on the remote desktop. One for switching the mode and issuing
stencil_start, the second one to issue stencil_stop. If you Ctrl-C in the start window, it doesn't do
all of the shutdown steps like generating the preview map or organizing files. You should
run stencil_stop in a console window before starting another run which will generate the rest of
the sequence and correctly shut down the appropriate ROS processes.
CREATING A REFERENCE MAP FOR LOCALIZATION
At the Kaarta-Stencil> prompt on the remote computer prompt, you can type:
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