Using DRC vehicle commands in version 2.5

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So export VRC_CHEATS_ENABLED=1 in the shell, that's the ./bashrc right? Does it matter where I put that?

Sure, putting the export line in your `~/.bashrc` would do the trick.

No good. I set it both the shell and on command line. export VRCCHEATSENABLED=1 roslaunch atlasutils atlasdrcvehiclefire_hose.launch. When I ran my code, it still wouldn't respond. Should I show a copy of my code so it can be tested?

Sure, if you can show the code, then we can help diagnose the problem.

Thanks, there's a character limit, so I'll have ot break it down in parts, luckily it's not too long. #include <math.h> #include <ros ros.h=""> #include <ros subscribe_options.h=""> #include <boost thread.hpp=""> #include <boost algorithm="" string.hpp=""> #include <gazebo common="" time.hh=""> #include <sensor_msgs jointstate.h=""> #include <geometry_msgs pose.h=""> #include <osrf_msgs jointcommands.h=""> #include <std_msgs float64.h=""> #include <std_msgs int8.h="">

ros::Publisher pubdrivecommands1; ros::Publisher pubdrivecommands2; ros::Publisher pubdrivecommands3; ros::Publisher pubdrivecommands4; ros::Publisher pubdrivecommands5; ros::Publisher pubdrivecommands6;

geometrymsgs::Pose posemsgs;void toggleHandBrake(ros::Publisher pubdrivecommands, stdmsgs::Float64 handbrake){ printf("robot toggle hand brake\n"); pubdrivecommands.publish(handbrake); printf("ros spinOnce\n"); ros::spinOnce(); }

void toggleGasPedal(ros::Publisher pubdrivecommands, stdmsgs::Float64 gaspedal){ printf("robot press/unpress gas pedal\n"); pubdrivecommands.publish(gaspedal); printf("ros spinOnce\n"); ros::spinOnce(); }void toggleBrakePedal(ros::Publisher pubdrivecommands, stdmsgs::Float64 brakepedal){ printf("robot press/unpress brake pedal\n"); pubdrivecommands.publish(brakepedal); printf("ros spinOnce\n"); ros::spinOnce(); }

void turnWheel(ros::Publisher pub_drive_commands, std_msgs::Float64 turn_wheel_magnitude, bool leftorright){ printf("robot turn wheel\n"); if(leftorright == false) turn_wheel_magnitude.data = (((double)turn_wheel_magnitude.data) * -1.0); pub_drive_commands.publish(turn_wheel_magnitude); printf("ros spinOnce\n"); ros::spinOnce(); }

void changeGear(ros::Publisher pub_drive_commands, std_msgs::Int8 direction){ printf("robot change direction of vehicle\n"); pub_drive_commands.publish(direction); printf("ros spinOnce\n"); ros::spinOnce(); }void figure8(ros::Publisher turn_command, std_msgs::Float64 degree){ turnWheel(turn_command,degree,true); ros::Duration(5).sleep(); turnWheel(turn_command,degree,false); ros::Duration(5).sleep(); }

void circle(ros::Publisher turncommand, stdmsgs::Float64 degree, bool lr){ turnWheel(turncommand,degree,lr); ros::Duration(10).sleep(); }void square(ros::Publisher turncommand, stdmsgs::Float64 degree, bool lr, int length){ stdmsgs::Float64 handwheel3; handwheel3.data = 00.00f; turnWheel(turncommand,degree,lr); ros::Duration(1.5).sleep(); turnWheel(turncommand,handwheel3,lr); ros::Duration(length).sleep();turnWheel(turncommand,degree,lr); ros::Duration(1.5).sleep();