core-Rover

This is the repository for Astra's Core Rover code.

Software Pre-reqs

The BaseStation computer will need several things.

• ROS2 Humble

• Follow the standard ROS2 humble install process. Linux recommended.

• https://docs.ros.org/en/humble/Installation.html

• Colcon

• $ sudo apt update

• $ sudo apt install python3-colcon-common-extensions

• Configured Static IP for Ubiquiti bullet

• This process will depend on the system, but you'll need this for using the Ubiquiti network with the M2 bullets.

• Settings:

• Net Mask: 255.255.255.0

• IP Address: 192.168.1.x

• This can be just about anything, just not ending in 1.20, 1.21, 1.69, or 1.0

• Gateway: 192.168.1.0

Headless Control

To control the rover without a base station you'll need to run the headless control node.

• SSH to the the rover from a computer computer over wifi (or connect directly)

• ssh [email protected]

• Password: spaceiscool639

• Run Ros2 run headless_pkg headless

  • This needs to be done in a separate ssh/shell window from the core rover node

Running the Rover node

• Ensure you're either connected directly to the rover's network switch over ethernet or connected to an M2 bullet which has connection to the rover (red signal lights on)

• SSH to the the rover from a computer computer over wifi (or connect directly)

• ssh [email protected]

• Password: spaceiscool639

• run ros2 run core_control_pkg core_control

  • This needs to be done in a separate ssh/shell window from the headless control node (if you're running it)

• You should see "MCU found" on a serial line

• If not, you'll get an error it's not found and the program will close. Ensure the teensy is connected via usb to the Nuc

Connecting the GuliKit King Kong Pro 2 Controller (Recommended)

• Connect controller to pc with USB-C

• Select the "X-Input" control mode (Windows logo) on the controller.

• Hold the button next to the symbols (windows, android, switch, etc...)

• You'll need to release the button and press down again to cycle to the next mode