TerrainHopper

Documentation for modifications and use of TerrainHopper vehicle

Interfaces

Description of the Wheel encoder and RHD plugin

Motor velocity control

Roboteq Motorcontrollers

Remote control

Velocity control through RHD plugin (todo).

UR5 interconnection

Power, gripper and camera

Main computer

Ubuntu 18.04 installation

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.

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

Steering

Hardware redesign for improved steering with less slag.

Terrain hopper steering