Getting started (AutoNOMOS Model v2)

Getting started

If your eMMC card is already flashed you can insert it in the Odroid (bottom side of Odroid). You can find a switch on the Odroid, to choose between SD and eMMC. Make sure it is turned to eMMC. Now it is time to plug in the power and connect the LAN to the Odroid. By default the autostart script should run, turning on all connected hardware and starting some ROS nodes. Per default the hostname is set to Modelcar-129 and the wifi ip address is statically set to 192.168.43.129.

Connect via Ethernet

To create a connection -- make sure an Ethernet cable connects your PC with the odroid. You may have to set your PC's IP address to a static one in the 192.168.1.X subnet (for X choose a number between 1 and 254 except 199). It is time to connect via ssh to the odroid. With ssh root@192.168.1.199 you can do so.

 $ ssh root@<your chosen ethernet IP address>
 $ password: elfmeter

Setup

You can change the hostname of your odroid in the file /etc/hostname:

 $ nano /etc/hostname

For changing the wifi IP address change the following part in the file /etc/network/interfaces:

#
# Wireless interfaces
#

# do not turn on wlan0 automatically, as at least one project must be able
# to run without WIFI - in this case not attaching the Wifi stick will delay
# boot by 2 minutes, so we start wifi manually in the autostart init script.
#auto wlan0

# wpa_supplicant controlled management, suitable for all kinds of networks
iface wlan0 inet static
	address 192.168.43.129     # YOUR WIFI ADDRESS HERE
	netmask 255.255.255.0  
	broadcast 192.168.43.255
	gateway 192.168.43.1
	wpa-conf /etc/wpa_supplicant.conf
	wpa-driver wext
	down killall wpa_supplicant

After that you have to change the IP address in /root/autostart.sh and /root/.bashrc too:

export ROS_HOSTNAME=192.168.43.129
export ROS_MASTER_URI=http://192.168.43.129:11311

Basic packages

The odroid image comes with a preinstalled catkin workspace and required libraries which contains all basic packages in /root/catkin_ws. In the case you have to install the basic packages again you can do the following. Clone the model_car repository in your computer and switch to the version-2 branch. After that copy the files from model_car folder to the odroid using the scp command:

 $ git clone https://github.com/AutoModelCar/model_car.git
 $ git checkout version-2
 $ cd model_car
 $ scp -r catkin_ws root@192.168.1.199:./

If you clone it directly from github to the odroid you may need to update you date-settings with ' date --set ''[year]-[month]-[day] [hour]:[minute]:[second]'' '

 $ date --set "yyyy-mm-dd hh:mm:ss"

After cloning the source code you can go into the catkin_ws folder and compile the packages (for safety that the odroid doesn't hang only use two threads) with:

 $ catkin build -j2

The -j2 option is only used for safety so that the odroid is using maximum two threads for compiling and doesn't get stuck while doing so.

Test

For testing the installation use './autostart.sh', some error messages may appear. Don't worry about them -- if it compiles, it will work. You can use the car_control App to test whether everything works or not.

   $ ./autostart.sh