Connection to JETSON

Connecting with Router

It is easier to create a network with a router because the ip is given by DHCP. Connect JETSON and host computer to router. I've been using the USV router. The ip for that router is 192.168.0.1. If using another router ip should be in router. This ip leads to the configuration page of the router, it can be accesed with any browser.

Connecting directly to Host Computer

Can use ethernet or micro-usb (which creates a virtual ethernet port)

ROS

Node Diagram

joy-node is the driver for obtaining the values from the xbox controller
uuv_teleop obtains the values from the topics created in joy_node and maps them into surge, sway, heage, roll, pitch and yaw
uuv_can sends the values obtained from uuv_teleop via can to STM32

Setup

1. Connect batteries, connect ethernet cables, connect CAN
2. SSH into Jetson and initialize CAN (run start-can.sh)
3. Start container in src/ (container has a volume) on Jetson and Host computer (make sure there is connection, and ROS_DOMAIN_ID is the same on both containers)
4. Packages \
   1. Run joy-node. echo topic to see values changing from xbox controller \
   2. Run uuv_teleop echo topic to see changes in x,y,z \
   3. Run uuv_can to start moving the motors with the xbox controller

Caution!!!

• Run motors only on water!!! if using more than 10% of power.
• If running 6 motors make sure to use 2 Lithium-ion Battery (14.8v, 18Ah) (https://bluerobotics.com/store/comm-control-power/powersupplies-batteries/battery-li-4s-18ah-r3/) or a power supply that can handle the amperage

Troubleshooting

Some mistakes and posible solutions can be find here: https://www.notion.so/vanttec/Electronic-Troubleshooting-b6166d3d4df24481b693ef40782449ab