Build_RCcar

How to make RCcar from the very beginning

Install Ununtu on Jetson TX2

1. cd NVIDIA-INSTALLER
2. sudo ./installer.sh

The initial password of the Jetson TX2 is nvidia.

Download and install JetPack L4T

https://docs.nvidia.com/jetpack-l4t/2_2/content/developertools/mobile/jetpack/l4t/2.2/jetpack_l4t_install.htm

1. Download run file at https://developer.nvidia.com/embedded/jetpack on your host computer, not the Jetson board
2. chmod +x JetPack-${VERSION}.run
3. ./JetPack-${VERSION}.run
4. Network Layout - Device accesses Internet via router/switch
5. Select the host nework by ifconfig
6. USB Recovery Mode: When the Jetson board is powered off, press and hold REC button and then press PWR button
7. Your Jetson board will be powered on. Then connect to the same network to the host.

Install ROS

1. Download sh files at https://github.com/jetsonhacks/installROSTX2
2. ./installROS.sh -p ros-kinetic-desktop-full
3. ./setupCatkinWorkspace.sh catkin_ws

Install ACM module to use Teensy and Hokuyo

1. Download sh file at https://github.com/jetsonhacks/installACMModule
2. sudo ./installCDCACM.sh
3. Reboot the Jetson board

Setting Hokuyo

1. Install ROS package

sudo apt-get install ros-kinetic-urg-node

2. Run Hokuyo node

• USB port Hokuyo(Default USB port: /dev/ttyACM0)

  rosrun urg_node urg_node _serial_port:=<Hokuyo USB Port>
  

• Ethernet port Hokuyo

1. Find Network on your toolbar and click Edit Connections
2. Click Add and select Ethernet
3. Click IPv4 Settings and click Manual and click Add and set the new address like below

Name            Hokuyo   
IP Address      192.168.1.15
Subnet Mask     255.255.255.0
Default Gateway 192.168.1.1

4. Connect Hokuyo ethernet port to the Jeston board and connect to Hokuyo at Ethernet networks
5. rosrun urg_node urg_node _ip_address:=192.168.1.1

How to compile Teensy

You need to Install Arduino and Teensyduino to compile the Teensy board.

1. Install Arduino for Linux 64bit at https://www.arduino.cc/en/Main/Donate on your notebook

2. ./install.sh

3. Install Teensyduino at https://www.pjrc.com/teensy/td_download.html

4. chmod +x TeensyduinoInstall.linux64

5. ./TeensyduinoInstall.linux64

   During the installation, you need to set your Teensyduino path at your extracted Arduino folder.

6. sudo apt-get install ros-kinetic-rosserial-arduino

7. rosrun rosserial_arduino make_libraries.py <your Arduino path/libraries>

sudo rm -f /tmp/49-teensy.rules /etc/udev/rules.d/49-teensy.rules &&
wget -O /tmp/49-teensy.rules https://www.pjrc.com/teensy/49-teensy.rules &&
sudo install -o root -g root -m 0664 /tmp/49-teensy.rules /lib/udev/rules.d/49-teensy.rules &&
sudo service udev reload && echo "Success."

9. sudo cp /tmp/49-teensy.rules /etc/udev/rules.d/49-teensy.rules
10. Restart Arduino and reconnect your Teensy to the notebook
11. Compile and upload ~ on your Teensy

How to use Teensy

1. sudo apt-get install ros-kinetic-rosserial
2. Install race ROS package at https://github.com/mlab-upenn/f1tenthpublic in your catkin workspace and make
3. rosrun rosserial_python serial_node.py <Teensy_USB_port>

Install RealSense Libary

You need to install RealSense library and realsense2_camera ROS package.

1. chmod +x librealsense.sh
2. sudo ./librealsense.sh
3. cd /usr/local/bin
4. ./realsense_viewer
5. Install realsesne2_camera ROS package at https://github.com/intel-ros/realsense in your catkin_workspace
6. sudo apt-get install ros-kinetic-rgbd-launch
7. roslaunch realsense2_camera rs_rgbd.launch

Network Settings

On your Jetson board

1. Find Network on your toolbar and click Edit Connections
2. Click Add and select Wi-Fi
3. Click Wi-Fi and set the Connection name and SSID

Connection name      Hotspot_name  
SSID                 Hotspot_name

4. Add the following line to /etc/modprobe.d/bcmdhd.conf:

options bcmdhd op_mode=2

5. Click Connect to Hidden Wi-Fi Network and select the hotspot which you made.

After the Jetson board is connected to the hotspot, it cannot connect to any wi-fi network except for the hotspot. If you want to connect other wi-fi network, you need to delete the hotspot network and the added line at step 4.

On your notebook

1. Connect to the hotspot of the Jetson board
2. Click Edit Connections and select the hospot and click Edit
3. Click IPv4 Settings and click Manual and click Add and set the new address like below

IP Address      10.42.0.X(in this example, 64)
Subnet Mask     255.255.255.0
Default Gateway 10.42.0.1

4. Click save
5. Add the following line to /etc/hosts:

10.42.0.1 Name_of_the_Jetson_board(for example, nvidia)

6. Add the following lines to ~/.bashrc:

export ROS_MASTER_URI=http://10.42.0.1:11311
export ROS_IP=10.42.0.64

7. source ~/.bashrc

On your Jetson board

1. Add the following line to /etc/hosts:

10.42.0.64 Name_of_the_notebook(for example, rllab)

2. Add the following lines to ~/.bashrc:

export ROS_IP=10.42.0.1
export ROS_MASTER_URI=http://10.42.0.1:11311

3. source ~/.bashrc

Now, you can run roscore on the Jetson board and it is connected to your notebook.

Install ROS packages

1. sudo apt-get install ros-kinetic-navigation ros-kinetic-scan-tools ros-kinetic-hector-slam
2. Download hwsetup folder in ~/catkin_ws/src
3. catkin_make

Errors