ar_commander

GNC code for analytical robotics

Scripts description

controller.py: Controls robot in the form of a desired waypoint /cmd_waypoint or trajectory /cmd_trajectory on the /controller_cmds topic.

navigator.py: Acts as a container for calling a desired trajectory finding algorithm and publishes the trajectory to /cmd_trajectory.

astar.py: Given start, end points and a map finds a trajectory if one exists and returns it to navigator.py.

sim_interface.py: serves to transfer data to and from controller with the simulation environment, gazebo. Conversts sim model state messages /gazebo/model_states. to the /pose topic in Pose2D format. Receives controller commands /controller_cmds and converts to sim inputs robot_0/joint${i}_position_controller/command.

motor_interface.py: setups and initializes motor interface. Receives controller commands, /controller_cmds and commands motors as desired. Requires operating pins of motors.

Running the simulation and autonomy stack

1. To run the sim and autonomy stack run from launch file folder: roslaunch ar_sim.launch

Command a trajectory: From command line rostopic pub /cmd_trajectory ar_commander/Trajectory '{x: {data:[1]}, y: {data:[1]}, theta: {data:[3]}}'

The trajectory start, end points and map can be defined in navigator.py. python navigator.py

Setup Jetson Nano

SSH into Nano

1. Connect to local wifi network on nano, configure wifi conenction to automcatiocally connect for all users in netwrok settings.
2. Check you can ping nano address from laptop : ping ---nano-ip-address---
3. SSH into nano from laptop: ssh -X username@---nano-ip-address--- (include the -X so that you can bring up the teensy loader GUI to ensure the upload executes correctly)

Configuring pins

Configure pins as desired for use, follow instructions at: nividia_pin_docs