Getting started
===============

Setup
------

Using a simulation
~~~~~~~~~~~~~~~~~~

If you have `Aseba Playground <http://wiki.thymio.org/en:asebaplayground>`_, you can use it to simulate a Thymio.
Launch the simulation with

.. code-block:: console

  asebaplayground

and open the ``thymio.playground`` world that is distributed with Aseba Playground.

Open a console and setup the environment

.. tabs::

   .. code-tab:: bash Linux or macOS

      source <WORKSPACE>/install/setup.bash
      export DEVICE="tcp:host=localhost;port=33333"
      export SIMULATION=True

   .. code-tab:: shell Windows

      C:<WORKSPACE>\install\setup.bat
      SET DEVICE="tcp:host=localhost;port=33333"
      SET SIMULATION=True


Using a real Thymio
~~~~~~~~~~~~~~~~~~~

Connect the Thymio to your machine. Open a console and setup the environment

.. and take note of which serial device ``<SERIAL_DEVICE>`` it uses (e.g., using Aseba Studio).
.. export DEVICE="ser:device=<SERIAL_DEVICE>"

.. tabs::

   .. code-tab:: bash Linux or macOS

      source <WORKSPACE>/install/setup.bash
      export DEVICE="ser:name=Thymio"
      export SIMULATION=False

   .. code-tab:: shell Windows

      C:\<WORKSPACE>\install\setup.bash
      SET DEVICE="ser:name=Thymio"
      SET SIMULATION=False


.. note::

  There are `different ways to specify devices <https://aseba-community.github.io/dashel>`_ like
  ``DEVICE="ser:device=<SERIAL_DEVICE>"`` or ``DEVICE="ser:port=<SERIAL_PORT>"``.
  On Windows you can inspect the device to which a Thymio is connected from the control panel.
  For examples, a Thymio connected to COM port #4 can be then specify either
  using ``DEVICE="ser:device=COM4`` or ``DEVICE="ser:port=4``.
  On Linux, the usual port is ``DEVICE="ser:device=/dev/ttyACM0`` and
  on macOS it is ``DEVICE=ser:device=/dev/cu.usbmodem14201``.



Running ROS-Aseba
-----------------

Launch the Aseba-ROS bridge with

.. tabs::

   .. code-tab:: bash ROS1

      # use %DEVICE instead of $DEVICE in a Windows command shell
      roslaunch asebaros_examples all_nodes.launch device:=$DEVICE

   .. code-tab:: shell ROS2

      # use %DEVICE instead of $DEVICE in a Windows command shell
      ros2 launch asebaros_examples all_nodes.launch device:=$DEVICE


See :ref:`examples` for more.

Running ROS-Thymio
------------------

Launch the Aseba-ROS bridge, the Thymio driver and the Thymio model with

.. tabs::

   .. code-tab:: bash ROS1

      # use %XXX instead of $XXX in a Windows command shell
      roslaunch thymio_driver main.launch device:=$DEVICE simulation:=$SIMULATION

   .. code-tab:: bash ROS2

      # use %XXX instead of $XXX in a Windows command shell
      ros2 launch thymio_driver main.launch device:=$DEVICE simulation:=$SIMULATION

In another console, launch rviz to visualize the robot.

.. tabs::

   .. code-tab:: bash ROS1

      # use C:\<WORKSPACE>\install\setup.bat a Windows command shell
      source <WORKSPACE>/install/setup.bash
      roslaunch thymio_description rviz.launch

   .. code-tab:: bash ROS2

      # use C:\<WORKSPACE>\install\setup.bat a Windows command shell
      source <WORKSPACE>/install/setup.bash
      ros2 launch thymio_description rviz.launch.py

Move the robot around and observe how the proximity sensors are displayed in rviz.