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Rover boot procedure

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Ethan McAuliffe edited this page Feb 1, 2023 · 4 revisions

Connecting over Ubiquiti Rocket M2 (base station antenna)

  1. Connect the base station WiFi antenna to AC power. Use the Ubiquiti PoE injector brick that comes with the Rocket M2s to do this. Please note it is important to plug the antenna into the correct ethernet port. The antenna must connect to the port labeled "POE".

  2. Connect a laptop to the "LAN" port of the PoE injector. If your laptop does not have an ethernet port, use an adapter.

  3. Configure ethernet settings on the laptop to connect to the Ubiquiti Rocket M2.

    Windows

    1. Open Settings > Network & Internet > Ethernet
    2. On "IP Assignment" click "Edit"
    3. Change from "Automatic (DHCP)" to "Manual" and enable IPv4. Change the IP fields to the following:

    Mac

    1. Open System Preferences > ... tbd

    Linux

    1. tbd

  4. Reset the breaker on the rover to power up the robot

  5. Make sure the GPIO header is UNPLUGGED from the Jetson TX2 and that the ethernet cable is PLUGGED IN. Also, it is reccomended to remove the WiFi antennas from the on-board SMA connectors.

  6. Press the power button on the Jetson TX2 to boot the computer. Some green LEDs should turn on. Wait 20-30sec and plug in the GPIO header.

  7. Assuming you have SSH configured, open PowerShell or Terminal on your laptop. To connect to the rover type: ssh [email protected]. You are now logged in.

Connecting over Mac-WiFi

  1. Reset the breaker on the rover to power up the robot

  2. Make sure the GPIO header and the Rocket M2 ethernet cable are UNPLUGGED from the Jetson TX2

  3. Press the power button on the Jetson TX2 to boot the computer. Some green LEDs should turn on. Wait 20-30sec and plug in the GPIO header.

  4. Assuming you have SSH configured, open PowerShell or Terminal on your host machine. To connect to the rover, type: ssh [email protected]. You are now logged in.

After Login

  • After login, run ./rover_prestart.bash and wait for the script to complete. This will automatically initialize roscore and rosserial. The rover is now ready for use.

Troubleshooting

  • If your machine fails to connect to the jetson over ssh because of a timeout, make sure that you're connected to Mac-WiFi and not eduroam.

    • If this still fails, wait a few minutes and try again. The DDNS script on the Jetson runs every 1 minute and only works when connected to the internet.

  • If you experience ROS errors, you can inspect the instances of roscore and rosserial by running screen -r roscore or screen -r rosserial on the Jetson. To exit the screen session without terminating the program, press ctl+a and then d.

  • DuckDNS (the DDNS provider) is configurable at https://duckdns.org. Login with the marsatmac gmail account.

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