TerrainHopper
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Velocity control through RHD plugin (todo). | Velocity control through RHD plugin (todo). | ||
| + | |||
| + | == Power distribution== | ||
| + | |||
| + | [[power]] and other drawings | ||
==UR5 interconnection== | ==UR5 interconnection== | ||
| Line 22: | Line 26: | ||
Ubuntu 18.04 installation | Ubuntu 18.04 installation | ||
| − | ===WiFi=== | + | ====WiFi==== |
Not connected to "WaveLAN IAU" | Not connected to "WaveLAN IAU" | ||
| Line 41: | Line 45: | ||
- 192.168.0.210/24 | - 192.168.0.210/24 | ||
optional: true | optional: true | ||
| − | |||
/etc/netplan/08-netplan-wifi.yaml | /etc/netplan/08-netplan-wifi.yaml | ||
| Line 58: | Line 61: | ||
optional: true | optional: true | ||
| + | Netplan merges the two configuration files, seems to work fine, except wifi. | ||
| + | To start the netplan, this command seems to help: | ||
| − | ===Can bus=== | + | sudo netplan try |
| + | |||
| + | ====Can bus==== | ||
Not working off the shelf | Not working off the shelf | ||
| + | |||
| + | Installed CAN viewer (uavcan_gui_tool) from page https://uavcan.org/GUI_Tool/Overview/#linux | ||
| + | |||
| + | sudo apt-get install -y python3-pip python3-setuptools python3-wheel | ||
| + | sudo apt-get install -y python3-numpy python3-pyqt5 python3-pyqt5.qtsvg git-core | ||
| + | sudo pip3 install git+https://github.com/UAVCAN/gui_tool@master | ||
| + | $ | ||
| + | uavcan_gui_tool | ||
==Steering== | ==Steering== | ||
Latest revision as of 12:29, 17 February 2023
Documentation for modifications and use of TerrainHopper vehicle
Contents |
[edit] Interfaces
Description of the Wheel encoder and RHD plugin
[edit] Motor velocity control
Remote control
Velocity control through RHD plugin (todo).
[edit] Power distribution
power and other drawings
[edit] UR5 interconnection
Power, gripper and camera
[edit] Main computer
Ubuntu 18.04 installation
[edit] WiFi
Not connected to "WaveLAN IAU"
Switched to netplan, interface with cable OK
Using these two files
/etc/netplan/05-netplan-rj45.yaml
network:
version: 2
renderer: networkd
ethernets:
enp0s31f6:
dhcp4: true
enp3s0:
addresses:
- 192.168.0.210/24
optional: true
/etc/netplan/08-netplan-wifi.yaml
network:
version: 2
# renderer: networkd
ethernets:
enp0s31f6:
addresses: [ 192.168.2.2/24 ]
wifis:
wlp1s0:
dhcp4: yes
access-points:
"WaveLAN IAU":
password: ""
optional: true
Netplan merges the two configuration files, seems to work fine, except wifi.
To start the netplan, this command seems to help:
sudo netplan try
[edit] Can bus
Not working off the shelf
Installed CAN viewer (uavcan_gui_tool) from page https://uavcan.org/GUI_Tool/Overview/#linux
sudo apt-get install -y python3-pip python3-setuptools python3-wheel sudo apt-get install -y python3-numpy python3-pyqt5 python3-pyqt5.qtsvg git-core sudo pip3 install git+https://github.com/UAVCAN/gui_tool@master $ uavcan_gui_tool
[edit] Steering
Hardware redesign for improved steering with less slag.
