DESCREPTION

A ROS package that include all the source code that runs on Space robot's PC.

#REQUIRMENTS

• RTD DM95820 card for acquisition of encoder and PWM's
• 2 or 3 mouse's for localization

Installation

DM95820 Drivers

• Source your workspace to find the package

  source devel/setup.bash

• Copy kernel module to the drivers directory.

  sudo cp $(rospack find cepheus_robot)/DM7820_Linux_*/driver/rtd-dm7820.ko /lib/modules/$(uname -r)/kernel/drivers/

• Add the name of the module to the file /etc/modules. You can edit the file or just append to it as shown here.

  echo 'rtd_dm7820.ko' | sudo tee -a /etc/modules

• Update the list of module dependencies.

  sudo depmod

• Reboot the computer and voila, it worked.

• TIP: in case apt-get upgrade the kernel you have to move the driven to the new folder or just do this process again

Mouse's

• In the launch file of the package modify the parameters of the mouse_odom node to correspond to the correct mouses like that:

  /dev/input/by-path/ "correct mouse name"

Wifi Adapter T4UH 5G

• Just run the following commands in order to install. If you upgrade the kernel you must run the last command again.

  mkdir ~/Downloads/t4uh_drivers

  cd ~/Downloads/t4uh_drivers

  sudo apt-get install git

  git clone https://github.com/abperiasamy/rtl8812AU_8821AU_linux.git

  cd rtl8812AU_8821AU_linux/

  sudo make clean

  sudo make

  sudo make install

  sudo modprobe -a 8812au

#Instructions

In every boot run the following commands to launch robot:

• cd ~/catkin_ws
• su
• password: root
• soure devel/setup.bash
• export ROS_MASTER_URI=http://cepheus.local:11311
• export ROS_IP=192.168.1.165