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).
Power distribution
power and other drawings
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.
To start the netplan, this command seems to help:
sudo netplan try
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.