kuri_mbzirc_challenge_2/Husky_user_instruction.txt at master · kucars/kuri_mbzirc_challenge_2 · GitHub

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The two user manuals that come with the Husky is a little bit unclear and out-dated. This document summarizes:
1. How to set up a computer to communicate with Husky's onboard computer.
2. The basic command to manage the files in the onboard computer.
3. How is Velodyne VLP 16 added on the Husky.
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How to set up a computer to communicate with Husky's onboard computer.
	One the computer(A) that is going to be connected to the onboard computer:
	1. Put the following two lines into /etc/hosts
		192.168.1.11    cpr-ests01
		192.168.1.19    kinect2_nuc
        2. Connect to the ethernet port on the Husky or the base station.
        3. SSH to the onboard computer
		sudo ssh administrator@192.168.1.11
		password: clearpath
        4. Put the following line into onboard computer's /etc/hosts
                <IP of computer A>    <Name of computer A>
        5. In the terminal of computer A enter the following lines:
		export ROS_MASTER_URI=http://cpr-ests01:11311
		export ROS_HOSTNAME=gwfalcon
        6.*Use rostopic list to see if computer A can see the topics published by the onboard computer.

        * If computer A cannot receive topic form the onboard computer. The changes have to be make in /etc/network/interfaces
          Warning: This might mess up the internet connection of computer A
          I changed the content from the default lines into:
		auto lo eth0
		iface lo inet loopback
		#iface eth0 inet static
		address 192.168.1.100
		netmask 255.255.255.0
        	gateway 192.168.1.11
        	dns_nameservers 8.8.8.8
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The basic command to manage the files in the onboard computer.
	To copy a package in the onboard computer to computer A:
	1. From the onboard computer to computer A
		scp -r administrator@192.168.1.11:/home/administrator/catkin_ws/src/<Package_name> /home/<User_name>/<Workspace_name>/src/
	2. From local computer A to the onboard computer
		scp -r /home/<User_name>/<Workspace_name>/src/<Package_name> administrator@192.168.1.11:/home/administrator/catkin_ws/src/
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How is Velodyne VLP 16 added on the Husky.
	Velodyne VLP 16 should be connect to the additional computer on Husky's top plate instead of the onboard computer.
        The massive sensor data from Velodyne VLP 16 can break the connection between computer A and the onboard computer.