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- Please see Jackal Setup General and Bluetooth for a tutorial on creating a new jackal.
- See Repo Setup for instructions on setting up this repo
- Physical Layout
Upon powering up a jackal, it will assume teleop control via a bluetooth controller. Upon sshing into a jackal your sshing device be set as the rosmaster. To stop the running bluebooth teleop control, type the command:
kros
This will kill all running ros processes and start you off with a clean slate. You will need to enter your password b/c the roscore on startup runs as a root process and needs root permissions to kill.
By default your sshing device is the set as the rosmaster, but if that ever changes you can reset your laptop as the rosmaster with:
lapm
for laptop rosmaster. Should you need to set the jackal as the rosmaster type
jackm
for jackal rosmaster.
With ROS Installed (See Jackal Ground Up Setup for creating a new jackal)
- Clone the repo into the src folder of your catkin workshpace.
- Move udev files & reload rules with the following commands
cd cohrint_jackal
sudo cp udev/* /lib/udev/rules.d/
sudo udevadm control --reload-rules && sudo udevadm trigger
- Create a virtualenv and install the following packages
sudo apt-get install python3-pip
sudo pip3 install pyyaml rospkg pyserial
- build the catkin workspace and source it
pyserial
[As root] usermod -a -G dialout MY_USER_NAME Notes:
- Green LED indicates antenna is recieving data
- SUDO terminal permissions wipe upon logout [need for serial]
- dmesg |grep tty to identify USB port
- sudo chmod a+rw /dev/ttyACM0
Follow the general set up and launch the gladiator node
$ roslaunch gladiator gladiator.launch