cyberotter

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cyberotter [2021/08/20 10:49] – [PTP] kristoffergrytecyberotter [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://github.com/SBG-Systems/sbg_ros_driver.  
 + 
  
 ==== 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. Link: https://github.com/smarc-project/imc_ros_bridge 
  
-TODO Øystein: Add more about the IMC ROS bridge. 
  
 ==== DUNE Navigation pipeline ==== ==== DUNE Navigation pipeline ====
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 === ptp4l config === === 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 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 %%''.+''%%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 full config is in ''%%recipes-ntnu/linuxptp/files/ptp4l.conf%%''. 
  
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 Status PTP: <code>systemctl status ptp4l</code>  Status PTP: <code>systemctl status ptp4l</code> 
 Restart PTP: <code>systemctl restart 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> 
-PTP Management Client (pmc) is used to check the status of all PTP actors. We installed pmc on the nvidia Jetson.  +
- +
-Check the status of every actor connected with the Jetson:<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>  Verify that the slaves are in fact configured to be slaves:<code>pmc –u –b 1 ‘GET SLAVE_ONLY’</code> 
 ===== 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: https://github.com/stereolabs/zed-ros-wrapper 
-TODO Øystein: add config +   * FLIR Blackfly S: https://github.com/neufieldrobotics/spinnaker_sdk_camera_driver 
- +   * Ouster OS-1: https://github.com/ouster-lidar/ouster_example
-==== FLIR Blackfly S ==== +
-TODO Øystein: add config +
- +
-==== Ouster OS-1 ==== +
-TODO Øystein: add config+
  
  
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