- Connect router to power
Optionally to get wifi, connect "internet" port on router to an external ethernet port with wifi
- Connect computer to ethernet port on the router
- Turn on the jetson and wait 10-15 sec
- Open a terminal, set the ROS IP info on the laptop and run the magic run command:
source ~/set_ip.sh
roslaunch lunabot_bringup computer.launch
- Open another terminal, ssh into the robot and run the robot
ssh <jetson-ip>
roslaunch lunabot_bringup robot.launch
- On computer
autonomy:=true
: disables publishing of manual control
- On jetson
exp_name:="mpc_test"
: experiment nameautonomy:=true
: enables slam, differential drive controller, mpc, global planner,record:=true
: enables recording tolunabot_bringup/bags
, ensure the folder existscameras:=true
: enables camerasslam:=true
: enables slam
- Right trigger- spin excavation forwards (pick up dirt)
- Left trigger- spin excavation backwards
- D-pad up/down- move linear actuators (excavation system) up/down
- Y button: latch/unlatch excavation speed. Excavation will remain at the speed it was latched at until the latch is released
- B button- spin auger for deposition
- Left and Right joysticks (up/down): tank drive controls for drivetrain (left stick controls left wheel, right stick controls right wheel)
- X button: switch between driving forwards and driving backwards (forwards is in the direction of excavation)
- Start button- stop all motors on the robot