Changes between Version 30 and Version 31 of Other/Summer/2023/SelfDriving

Timestamp:

Jul 19, 2023, 5:50:42 PM (16 months ago)

Author:

tochu

Comment:

—

Other/Summer/2023/SelfDriving

@@ -159 +159 @@
 
 - If you run out of space on ubuntu vm: https://technology.amis.nl/platform/virtualization-and-oracle-vm/ubuntu-vm-virtualbox-increase-size-disk-make-smaller-exports-distribution/
+
+==== Instructions for MIMIC (aka SCAMP) ====
+
+
+Clone repository into /opt
+
+===== Teensy 4.0 Setup: =====
+
+
+1. copy the links for the downloadable tar files for arduino-cli and teensy_loader_cli
+
+-> https://github.com/arduino/arduino-cli/releases
+
+-> https://github.com/PaulStoffregen/teensy_loader_cli/releases
+
+
+2. Use **wget** to download the tar files and extract them with **tar -xvf {filename}**
+
+
+3. Move the two executable files to "/bin" to add it to path (makes it so that the executable can be run from any directory)
+
+-> This allows the **./teensy-tool.sh** file in mimic/teensy to compile and upload to the teensy
+
+
+4. Refer to https://arduino.github.io/arduino-cli/0.33/getting-started/#adding-3rd-party-cores to add Teensy support to arduino-cli
+
+-> You may have to create a file called arduino-cli.yaml in ~/.arduino15 with information about additional urls, format is provided in the link above
+
+-> https://www.pjrc.com/teensy/td_download.html
+
+-> https://www.pjrc.com/teensy/package_teensy_index.json
+
+
+5. Follow the instructions to create the 00-teensy.rules file:
+
+-> https://www.pjrc.com/teensy/00-teensy.rules
+
+
+6. Use **arduino-cli board** list command to find the port of the Teensy
+
+-> Modify the sketch.yaml file in the ./teensy directory to makes sure default_port and default_fqbn matches what is listed from **arduino-cli board list**
+
+
+7. Upload teensy code by running **./teensy-tool -bu** in mimic/teensy/ to build and upload the code
+
+-> additionally, you can add the -m flag to open the monitor as well
+
+
+===== ROS Melodic Setup: =====
+
+Uses ROS Melodic for Ubuntu 18.04 on the Jetson Nano
+
+1. Refer to http://wiki.ros.org/melodic/Installation/Ubuntu for install
+
+
+2. Add the following lines to ~/.bashrc
+
+- source/opt/ros/melodic/setup.bash
+
+- source/opt/mimic/devel/setup.bash
+
+
+3. cd into mimic repo and run **catkin_make** to create ROS environment
+
+
+4. Run ROS nodes by running **./roslaunch.sh** in mimic/
+-> check ports for teensy for serial communication
+-> check joystick connection
+
+
+5. Making new nodes/msg
+-> List out .py files and .msg files as needed in the CMakeLists.txt file located in the package folder (ie test_pkg)
+-> Run **catkin_make** to refresh environment messages/nodes
+
+
+===== Integration with Web Display: =====
+
+1. Use **ip a** to find the ip of the Jetson Nano
+
+2. Open a web brower and go to {ip}:5000 to view