Guidelines

Get source code

git clone https://github.com/alkaza/rubis-car
cp -avr ~/rubis-car/race ~/catkin_ws/src
cp -avr ~/rubis-car/Arduino/Firmware/libraries/RobotEQ ~/Arduino/libraries

Launch keyboard control

roscore
rosrun race talker.py
rosrun rosserial_python serial_node.py /dev/ttyACM0
rosrun race keyboard.py
rosrun race kill.py

Launch driving straight

roscore
rosrun urg_node urg_node _ip_address:=192.168.1.11
rosrun race talker.py
rosrun rosserial_python serial_node.py /dev/ttyACM0
rosrun race control.py
rosrun race dist_finder.py
rosrun race kill.py

Install L4T 21.3 (from host PC)

Download L4T 21.3 release package and sample file system from

wget http://developer.download.nvidia.com/embedded/L4T/r21_Release_v3.0/Tegra124_Linux_R21.3.0_armhf.tbz2
wget http://developer.download.nvidia.com/embedded/L4T/r21_Release_v3.0/Tegra_Linux_Sample-Root-Filesystem_R21.3.0_armhf.tbz2

Untar the files and assemble the rootfs:

tar xpf Tegra124_Linux_R21.3.0_armhf.tbz2
cd Linux_for_Tegra/rootfs/
sudo tar xpf ../../Tegra_Linux_Sample-Root-Filesystem_R21.3.0_armhf.tbz2
cd ../
sudo ./apply_binaries.sh

Flash the rootfs onto the system's internal eMMC.

• Put your system into "reset recovery mode" by holding down the RECOVERY button and press RESET button once on the main board.
• Ensure your Linux host system is connected to the target device through the USB cable for flashing.

sudo ./flash.sh jetson-tk1 mmcblk0p1

Jetson TK1

Install

build-essential

sudo get update && apt-get install build-essential

gcc 5

sudo add-apt-repository ppa:ubuntu-toolchain-r/test
sudo apt-get update
sudo apt-get install gcc-5 g++-5
sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-5 60 --slave /usr/bin/g++ g++ /usr/bin/g++-5

git

sudo apt-get install git

Grinch Kernel

git clone https://github.com/jetsonhacks/installGrinch.git
cd installGrinch
./installGrinch.sh 

ROS setup

Install ROS

git clone https://github.com/jetsonhacks/installROS.git
cd installROS
./updateRepositories.sh
./installROS.sh

Create a ROS Workspace

source /opt/ros/indigo/setup.bash
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/
catkin_make
source devel/setup.bash
echo $ROS_PACKAGE_PATH

Install ROS packages

rosserial_arduino

sudo apt-get install ros-indigo-angles
sudo apt-get install ros-indigo-rosserial-arduino
sudo apt-get install ros-indigo-rosserial
rosrun rosserial_python serial_node.py _port:=/dev/ttyACM0 _baud:=57600
rostopic echo chatter

teleop_twist_keyboard (optional)

sudo apt-get install ros-indigo-teleop-twist-keyboard
rosrun teleop_twist_keyboard teleop_twist_keyboard.py

urg_node

sudo apt-get install ros-indigo-roslint
sudo apt-get install ros-indigo-urg-node
rosrun urg_node urg_node _ip_address:=192.168.1.11
rostopic echo /scan

Arduino setup

Install Arduino IDE

wget http://arduino.cc/download.php?f=/arduino-1.8.5-linuxarm.tgz
tar -xvf arduino-1.8.5-linuxarm.tgz
cd arduino-1.8.5
./install.sh

Setup ros_lib

cd ~/catkin_ws
catkin_make race
source devel/setup.bash
catkin_make
cd ~/Arduino/libraries
rm -rf ros_lib
rosrun rosserial_arduino make_libraries.py .

Network setup

Hokuyo

Note: device IP 192.168.1.11

Method: Manual
Connection Name: Hokuyo
IP Address 192.168.1.15
Subnet Mask 255.255.255.0
Default Gateway 192.168.1.1

Jetson TK1

Open ~/.bashrc

sudo gedit ~/.bashrc

Add lines:

export ROS_IP={Jetson TK1 IP}

To revert this, replace it back by:

export ROS_HOSTNAME=localhost

Open /etc/hosts

sudo gedit /etc/hosts

Add the line:

{Remote system IP} {User name}

Remote system

Open ~/.bashrc

sudo gedit ~/.bashrc

Add lines:

export ROS_MASTER_URI=http://{Jetson TK1 IP}:11311
export ROS_IP={Remote system IP}

Note: only run roscore on Jetson TK1

To revert this, replace it back by:

export ROS_HOSTNAME=localhost
export ROS_MASTER_URI=http://localhost:11311

Open /etc/hosts

sudo gedit /etc/hosts

Add the line:

{Jetson TK1 IP} {User name}