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cyberotter [2021/08/20 10:43] – [PTP] kristoffergryte | cyberotter [2022/09/19 11:34] (current) – external edit 127.0.0.1 | ||
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==== SBG Driver Config ==== | ==== SBG Driver Config ==== | ||
- | TODO Øystein: Add more about the SBG config | + | We use a ROS driver for interfacing with SBG Ellipse 2D: https:// |
+ | |||
==== IMC - ROS Bridge ==== | ==== 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. |
- | TODO Øystein: Add more about the IMC ROS bridge. | ||
==== DUNE Navigation pipeline ==== | ==== DUNE Navigation pipeline ==== | ||
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=== ptp4l config === | === ptp4l config === | ||
- | '' | + | '' |
The full config is in '' | The full config is in '' | ||
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</ | </ | ||
- | Useful | + | |
+ | === Useful commands | ||
Status PTP: < | Status PTP: < | ||
Restart PTP: < | Restart PTP: < | ||
- | + | Check the status of every actor connected:< | |
- | PtP Management Client (pmc) is used to check the status of all PtP actors. We installed pmc on the nvidia Jetson. | + | Verify that the slaves are in fact configured to be slaves:< |
- | + | ||
- | Useful pmc commands: | + | |
- | + | ||
- | Check the status of every actor connected | + | |
===== Yocto Linux configuration ===== | ===== Yocto Linux configuration ===== | ||
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===== Vision sensors ===== | ===== Vision sensors ===== | ||
+ | The cameras and the LiDAR are interfaced through ROS drivers: | ||
- | ==== Zed 2 stereo camera | + | * ZED 2 stereo camera: |
- | TODO Øystein: add config | + | * FLIR Blackfly S: https:// |
- | + | * Ouster OS-1: https:// | |
- | ==== FLIR Blackfly S ==== | + | |
- | TODO Øystein: add config | + | |
- | + | ||
- | ==== Ouster OS-1 ==== | + | |
- | TODO Øystein: add config | + | |