TerrainHopper
From Rsewiki
Documentation for modifications and use of TerrainHopper vehicle
Interfaces
Description of the Wheel encoder and RHD plugin
Motor velocity control
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
Can bus
Not working off the shelf
Steering
Hardware redesign for improved steering with less slag.