Computer Configuration

This page documents the configuration of the robot's computer and associated devices

Operating System: Ubuntu 10.04 Lucid Lynx, Desktop x86_64

Serial Devices

Device	Connected to...	Description
/dev/ttyS0	Garmin GPS	COMA header on the motherboard
/dev/ttyS1	NavCom GPS (data port)	Outer header on the serial expansion card
/dev/ttyS2	MicroStrain IMU	Inner header on the serial expansion card
/dev/ttyS3	Nothing
{{{/dev/jaguar} or /dev/ttyUSB1}}	Black Jaguar RS-232	Symlink generic USB→serial dongle tty (see udev below)
/dev/lms200	SICK LIDAR	Symlink to USB→serial tty (see udev below)

Internal Network

Device	IP Address	Description
Router "Glenda"	192.168.27.1	SSID Glenda, channel 11, WPA2 Personal AES
Computer (eth1)	192.168.27.2	Not currently present
Camera (Elphel)	192.168.27.3	Statically configured on the camera (/etc/config.d/net.eth0)

Packages

# General packages
sudo aptitude remove --purge empathy gwibber openoffice.org evolution
sudo aptitude install openssh-server htop denyhosts git-core subversion colordiff
# Robotics-related packages
sudo aptitude install ros-cturtle-base gpsd gpsd-clients

ROS stacks

ROS stacks/packages go in ~/ros-stacks. It is recommended that team members follow this convention on their own machines as well. To get the things the robot needs:

mkdir -p ~/ros-stacks
cd ~/ros-stacks
svn co https://rhitrobotics.org/svn/rhrt/trunk/rhrt-ros-pkg
# gpsd_client:
git clone git://ram.umd.edu/umd-ros-pkg.git
# gscam:
wget http://brown-ros-pkg.googlecode.com/files/gscam.tar.bz2
tar -xf gscam.tar.bz2
# clearpath_teleop:
svn co http://clearpath-ros-pkg.googlecode.com/svn/trunk/ clearpath-ros-pkg

udev

Since we have several USB→Serial devices it is useful to configure symbolic names for them.  This article describes how this was done. Place the following in /etc/udev/rules.d/99-rhrt-serial-devices.rules:

# Sick LMS LIDAR.  This is actually for the USB→Serial device that came with
# it (a small tan box with a yellow label that says "LIDAR C" on it).
SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6001", ATTRS{serial}=="FTCC02WI", SYMLINK+="lms200"
# Black Jaguar motor controller CAN bridge.  This is actually for a generic
# USB→Serial dongle to which it is attached.  Unfortunately the chip in this
# dongle doesn't provide a serial number, so we can't identify it uniquely ---
# the other identical dongle may confuse this rule!
SUBSYSTEM=="tty", ATTRS{idVendor}=="067b", ATTRS{idProduct}=="2303", SYMLINK+="jaguar"