Startup and Shutdown

This page describes how to start the entire system and then shut it down, from plugging everything in to safely turning off all subsystems.

Hardware Connections

The Jetson Nano and PhantomX Arm require separate power supplies. The Jetson Nano uses a 5V power supply and will power the biosensors and peripheral Arduinos. The PhantomX Arm requires a 12V power supply.

The end effector of the arm has data and power cords that need to be connected to the correct boards. Most biosensors are connected into the external wire box. These wires should not be unplugged. The following connections are also required.

1. The Stethoscope has a 3.5mm wire that goes into a ThinkLink convertor. The ThinkLink then outputs via another 3.5 mm wire, and goes into a Aux->USB convertor. This convertor is then plugged into a USB port on the Jetson.
   • The ThinkLink has an extra output port for a speaker if desired
2. The wire box has 2 exposed micro-usb ports for seperate Arduinos. These ports should be connected to the Jetson USB ports.
3. The ArbotiX of the PhantomX arm also has a USB data connection that connects to the Jetson Nano via USB
4. The Pulse Oximeter runs off the Arduino Mega which will use the usb port to connect to the Jetson Nano.
   • The wiring and code parameters of this sensor are covered in the Pulse Ox section specifically.

Starting the system from the Jetson Nano

Currently, to start the system you must be on the Jetson (or ssh into the Jetson) on the "athelas" or "root" user. Once you are on the system, open a terminal. Change the directory of the terminal so that you are in the athelas workspace and run the launch file:

roslaunch main_node serial_dev.launch

This will launch a new roscore.

Shutting down the system

Simply press Ctrl+C in the roscore terminal to kill the roscore. If the roscore/program is interrupted or is shutdown unexpectedly, you may need to reboot the Jetson to ensure that the camera and machine learning models are correctly loaded.