INSTALLATION.md

Configuring the Host Computer

This document describes the first steps you will need to go through in order to prepare the host computer for interacting with Jet.

You must have a computer or virutal machine running Ubuntu. Check out Virtual Box if you need to install on a Windows or Mac OSX computer.

Installing jethost

• Install git

  sudo apt-get install git

• Choose a location for your ROS files and change to that directoy cd FOLDER_FOR_ROS

• Create a workspace

  mkdir -p catkin_ws/src; cd catkin_ws/src

• Clone this repository into the workspace

  git clone https://github.com/NVIDIAGPUTeachingKit/jethost.git

• Run the ros configuration script

  rosjet/jethost_install.sh

Programming the Arduino

• Connect your Arduino Mega to the computer with jethost

• Compile and flash the Arduino

./jet_arduino/scripts/program.sh

Configuring ROS Environment Parameters

• Connect to the same network that Jet is on.

• Lookup your own IP address

ifconfig wlan0 if using WiFI

ifconfig eth0 if using ethernet

• Lookup the Jetson's IP address using your router settings or connecting Jet to an HDMI monitor

• Edit your /etc/hosts

sudo echo "YOUR_IP_ADDRESS jethost" >> /etc/hosts sudo echo "JET_IP_ADDRESS jet >> /etc/hosts"

• Set ROS_MASTER_URI in .bashrc

echo "export ROS_MASTER_URI=http://jet:11311" >> ~/.bashrc

• Source .bashrc

source ~/.bashrc

• SSH into Jet and perform similar updates

sudo echo "YOUR_IP_ADDRESS jethost" >> /etc/hosts sudo echo "localhost jet >> /etc/hosts" echo "export ROS_MASTER_URI=http://localhost:11311" >> ~/.bashrc

• Verify the configurations by running jet_real.launch on Jet

source ~/.bashrc; source catkin_ws/devel/setup.sh; roslaunch jet_bringup jet_real.launch

• On the jethost, make sure you can see the topics

rostopic list should return all topics rostopic echo arduino/encoder_left_value should show the left encoder's data