Running the Rover

Quickstart

Step 1: Connect to Jetson

Attach the ethernet cable from the robot (or the antenna's bullet through POE) to your computer. Run ssh rover in a terminal. This may take a few attempts before it connects. Type nvidia for the password once it successfully connects.

Step 2: Running the Rover Code

Run ./rover.sh <periphery> and substitute for the mounted periphery (arm|science) or leave empty.

Step 3: Running the Mission Control

In a new terminal, run ./start_mission_control.sh. Ctrl + Click on the link labeled “Local” or open a browser and go to http://localhost:3000/.

Stopping the Rover

Step 1: Stopping Executuion

Press Ctrl + C in both terminals to stop them.

Step 2: Shutting down the Jetson

Run sudo shutdown now in a terminal. If it asks for the password, it's the same from before: nvidia

Step 3: Turning off the Rover

Once the Jetson spins down and the green power light is no longer on, hit the main breaker on the Rover to cut power.

In-Depth Guide

Step 1: Connect to Jetson

Attach the ethernet cable from the robot to your computer. Run ssh rover in a terminal. This may take a few attempts before it connects. Type nvidia for the password once it successfully connects.

Step 2: Running the Rover Code

Step 2.1: Enabling CAN and GPS

In the SSH connection, run cd Resurgence and run ./enable_CAN_and_GPS to enable CAN and GPS. GPS errors are expected.

Step 2.2: Building the Rover Code

In the SSH connection, run mkdir -p build && cd build to create the build directory. Run cmake ../src to initialize the cmake tools. The default world interface is the real world interface, but you can add -DWORLD_INTERFACE=REAL|SIMULATOR as necessary. Then run make -j Rover to make only the Rover executable or make -j to make all of the tests as well.

Step 2.3: Running the Rover Code

Then run ./Rover to start the rover code. If a periphery is mounted (arm|science), then run ./Rover -p <periphery> and substitute in for the corresponding peripheral.

Step 3: Running the Mission Control

In a new terminal, run cd mission-control, then git status to check the current branch. Make sure you are in the main branch; if not, run git checkout main to change branches. If needed, run git pull to update the current code. Run npm run build && serve -s build to run the Mission Control code.

Step 4: Displaying the Mission Control

The after running the command, the console will display the URL to access the Mission Control. Open that link in the Chromium.