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Installation Guide

Before installing the Super COMO packages, perform a full JetPack installation on the Jetson TX2. For the package, JetPack 3.2.1 was installed.

After installing JetPack, follow the steps below to setup Super COMO.

  1. Configure repositories: Configure repositories to allow "restricted," "universe," and "multiverse." Do this by following the instructions in this link.

  2. Clone super_como : Clone the repository to your home directory. In a terminal window run:

cd ~ && git clone https://github.com/The-SS/super_como
  1. Navigate to setup folder: In terminal, navigate to the setup folder in super_como by running:
cd ~/super_como/setup
  1. Configure git (if not configured): Configure git either manually or by running git_config_setup.sh. You can run the setup file as follows:
./git_config_setup.sh
  1. Run the following scripts:
./install_programs.sh

./install_ros.sh
  1. Download and install the ZED SDK:

  2. Go to the ZED downloads website and download the ZED SDK for Jetson TX2 with JetPack 3.2 and CUDA 9.

  3. Once it downloads, either used chmod +x <file_name> to make the file and executable or right click it --> permissions --> allow executing file as a program.

  4. Run the script by cd to file location in a terminal and typing ./ followed by the file name.

  5. Setup the device rules: Run the rules set up script:

sudo ./rules_setup.sh

This script will reload the rules, but we recommend restarting the machine to ensure that the rules are in effect.

  1. Run the build script: The build.sh script at the root of the super_como package builds the catkin workspace. In a terminal window, navigate to the root of the super_como package then run the following command:
cd ~/super_como
./build.sh
  1. Generate the ros_lib libraries for arduino:
  2. Go the the Arduino libraries direcotry: 
cd ~/arduino-1.8.7/libraries
  • Remove any previous ros_lib directory:
rm -fr ros_lib
  • Generate the new libraries:
rosrun rosserial_arduino make_libraries.py .

For more details see the Install ros_lib into the Arduino Environment section here.

  1. Source the workspace: Every time a new terminal window is open you have to source your workspace.
source ~/super_como/workspace/devel/setup.bash

Alternatively, you can add this to the bashrc file to avoid having to do that every time.

echo "source ~/super_como/workspace/devel/setup.bash" >> ~/.bashrc

Once this is performed you have to restart your terminal or source the bashrc file as follows:

source ~/.bashrc
  1. Add the Lidar to ethernet networks:
  2. Open Network Connections.
  3. Click on Add.

  4. In the new window do the following:

    • Change the connection name to lidar
    • In the General tab, check the Automatically connect to this network when it is available and All users may connect to this network options
    • In the IPv4 Settings tab, change the method to Manual and add the following in Addresses:
      • address: 192.168.0.15
      • netmask: 255.255.255.0 (this will change to 24)
      • leave the gateway field empty
    • Click save.

  5. Edit the USB port names: The rules file generated by rules_setup.sh creates symbolic links for devices that should be used instead of the port names generated by Linux. The full list of symbolic links found in /etc/udev/rules/99-device-rules.rules is:

  6. /dev/imu: IMU
  7. /dev/vesc: VESC
  8. /dev/teensy: Teensy
  9. /dev/elp/back: back elp camera
  10. /dev/elp/right: righ elp camera
  11. /dev/elp/left: left elp camera
  12. /dev/elp/front: front elp camera

These links should be used in the package (instead of /dev/ttyUSB*, /dev/ttyACM*, or /dev/video*). Make the following modifications to the package: - In ~/super_como/super_como/workspace/src/racecar/racecar/config/racecar-v2/vesc.yaml change the port parameter under vesc_driver to /dev/vesc. - In ~/super_como/workspace/src/razor_imu_9dof/config/razor.yaml change the port parameter to /dev/imu. - In ~/super_como/workspace/src/razor_imu_9dof/nodes/imu_node.py change the default_port variable to '/dev/imu' (line 110). The updated line should be: default_port='/dev/imu'.

  1. If running YOLO, change the darknet_ros camera topic: In ~/super_como/workspace/src/darknet_ros/darknet_ros/config/ros.yaml change the topic parameter under camera_reading in subscribers to the desired image topic. For example that could be the /zed/left/image_raw_color topic if using the ZED or ZED mini cameras. Check the YOLO github repository for more details.

Optional:

  • Setting up team viewer
  • Setting up optional Bluetooth Xbox one controller script
  • bldc tool download, install, and programming vesc
Please reference the Super COMO Github to clone the software package