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--- cyberotter [2021/08/19 16:44] – [Navigation] kristoffergryte
+++ cyberotter [2022/09/19 11:34] (current) – external edit 127.0.0.1
@@ Line 28: / Line 28: @@
 ==== SBG Driver Config ====
-TODO: Add more about the SBG config
+We use a ROS driver for interfacing with SBG Ellipse 2D: https://github.com/SBG-Systems/sbg_ros_driver.
 ==== IMC - ROS Bridge ====
-The IMC ROS bridge developed by the Swedish Maritime Robotics Centre (SMaRC) was used to map ROS topics from the SBG driver to the IMC format. The IMC messages were then transmitted from the Nvidia Jetson to DUNE running on the Beaglebone Black.
+The IMC ROS bridge developed by the Swedish Maritime Robotics Centre (SMaRC) was used to map ROS topics from the SBG driver to the IMC format. The IMC messages were then transmitted from the Nvidia Jetson to DUNE running on the Beaglebone Black. Link: https://github.com/smarc-project/imc_ros_bridge
-TODO: Add more about the IMC ROS bridge.
 ==== DUNE Navigation pipeline ====
@@ Line 199: / Line 201: @@
 === ptp4l config ===
-''%%ptp4l -i eth0 -f /etc/ptp4l.conf%%'' The config (ptp4l.conf) is the default config for e.g. ubuntu, but ''%%clockClass%%'' has been reduced to 128 to increase the likelihood for selecting this as the PTP grand master clock. The full config is in ''%%recipes-ntnu/linuxptp/files/ptp4l.conf%%''. TODO: Øystein details about priority levels
+''%%ptp4l -i eth0 -f /etc/ptp4l.conf%%'' The config (ptp4l.conf) is the default config for e.g. ubuntu, but ''%%clockClass%%'' has been set to 6 (master only) for Beaglebone. By this, we force Beaglebone to be PTP grand master clock. Also set priority level 1 and 2 to the same clockclass (6). Leave all other parameters in ''%%/etc/ptp4l.conf %%'' to default values.
+The full config is in ''%%recipes-ntnu/linuxptp/files/ptp4l.conf%%''.
+The Jetson Xavier is a slave in the PTP setup. In ''%%/etc/linuxptp/ptp4l.conf %%'', set clockclass to 255 (slave only). Set priority level 1 and 2 to the same clockclass (255). Also, ensure slaveOnly mode is enabled. Leave all other parameters to default values.
 === phc2sys config ===
@@ Line 213: / Line 219: @@
 phc2sys -w -c CLOCK_REALTIME -s eth0
 </code>
+=== Useful commands ===
+Status PTP: <code>systemctl status ptp4l</code>
+Restart PTP: <code>systemctl restart ptp4l</code>
+Check the status of every actor connected:<code>pmc –u –b 1 ‘GET TIME_STATUS_NP’</code>
+Verify that the slaves are in fact configured to be slaves:<code>pmc –u –b 1 ‘GET SLAVE_ONLY’</code>
 ===== Yocto Linux configuration =====
@@ Line 224: / Line 238: @@
   * [[https://www.kilobaser.com/blog/2014-07-15-beaglebone-black-gpios|Good description of BBB GPIO, device tree]]
   * [[https://raw.githubusercontent.com/beagleboard/BeagleBone-Black/master/BBB_SRM.pdf|BBB manual, with overview of P8 and P9 headers in tab 12/13]]
+===== Vision sensors =====
+The cameras and the LiDAR are interfaced through ROS drivers:
+   * ZED 2 stereo camera: https://github.com/stereolabs/zed-ros-wrapper
+   * FLIR Blackfly S: https://github.com/neufieldrobotics/spinnaker_sdk_camera_driver
+   * Ouster OS-1: https://github.com/ouster-lidar/ouster_example
 IP info:
-TODO Øystein Petter
 | Device | IP |
 | RTK base BBB | 10.0.60.45 |
@@ Line 233: / Line 254: @@
 | Otter Bullet | 192.168.1.23 |
 | Payload Jetson | 10.0.63.105 |
-| FLIR camera left | 10.0.X.X |
+| ZED 2 stereo camera | X.X.X.X |
-| FLIR camera right | 10.0.X.X |
+| FLIR camera left | 169.254.121.156 |
-| Ouster LIDAR | 10.0.X.X |
+| FLIR camera right | 169.254.123.156 |
+| Ouster LIDAR | X.X.X.X |