What I did to setup the Minnowboard Max - Cole
Downloaded mavros
- sudo apt-get ros-indigo-mavros
- sudo apt-get ros-indigo-mavros-extras
Created a catkin workspace
- mkdir -p ~/catkin_ws/src
- cd ~/catkin_ws/src
- catkin_init_workspace
- cd ..
- catkin_make
Created an el.bash file
- cd ~/catkin_ws
- vim el.bash
- -> I copied the one found in odroid
- -> I am not sure if it is necessary or not
- -> It may also need to be changed
Clone the april_tag repository
- cd ~/catkin_ws/src
- sudo apt-get install git
- git clone https://github.com/ColumnRobotics/april_tag.git
- cd ~/catkin_ws
- catkin_make
- -> Build successfull
Clone the column repository
- cd ~/catkin_ws/src
- git clone https://github.com/ColumnRobotics/column.git
- cd ~/catkin_ws
- catkin_make
- -> Build Successfull
Added the camera.yml file to .ros folder
- cd ~/.ros
- mkdir camera_info
- cd ~/catkin_ws/src/column
- cp pseye.yml ~/.ros/camera_info
- cd ~/.ros/camera_info
- mv pseye.yml camera.yml
Get gscam
- In odroid: tar czf gscam.tar.gz gscam
- scp [email protected]:~/Development/ROS-semi-official/src/gscam.tar.gz .
- tar -xzf gscam.tar.gz
- scp [email protected]:~/Development/ROS-semi-official/src/gscam_config.sh .
- -> Have not checked the settings for gscam yet -> need to setup hardware on minnowboard first
- sudo apt-get install libgstreamer0.10-dev libgstreamer-plugins-base0.10-dev
- cd ~/catkin_ws
- catkin_make
- -> Build successfull
Get global_planner.bash
- mkdir -p ~/Development/scripts
- cd ~/Development/scripts
- scp [email protected]:~/Development/scripts/global_planner.bash .
Test gscam
- source ~/catkin_ws/src/gscam_config.sh
- in another tab: roscore
- rosrun gscam gscam
- -> catin_ws is sourced in ~/.bashrc
- Worked whenever I connected the camera to the USB port
- May not work with the other camera attached -> may need to check which video port it is
Test UART
- First test was on High Speed UART1 which corresponds to pins 6 and 8 of the JP1 header
- -> There is a number one labeled next to the header for reference
- Voltage level is 3.3 for all of the GPIO pins. This is pin 4 on JP1 for 3.3. GND is pin 3.
- Documenation says that UART1 appears as /devttyS4
- Need to downoad minicom to test connection
- -> sudo apt-get install minicom
- -> dmesg
- -> Look for FT230x Basic UART
Problem I had when I got into grub -> grub commands
- normal_exit
- set boot=(hd0,gpt2)
- set prefix=(hd0,gpt2)/boot/grub
- insmod normal
- normal
- -> use ls to find the drives
- -> -> then use ls (hd0, ---)/boot to find which is thre currect one
- -> -> may not be gpt2
- Then in Ubuntu
- -> sudo grub-install /dev/sda