Difference between revisions of "Category:HamsterProKit"

Revision as of 14:19, 5 December 2019

AAEON Pro Kit support page

Kit prerequisite (not included in the kit)

• Lipo battery with T connector 7.4V 2 cell.
• Battery charger

Connecting the kit

• Use the LLC cable (in the picture) to both monitor and charge the battery

 * Port 9 can be used to charge the Lipo Battery
 * Port 8 should connect the the Lipo battery balancer (JST connector)
 * Port 7 should connect to the LLC board 
 * Red T connector (rightmost on the picture)

• Connect the Up Squared board to the LLC as shown in the picture

 * TX/RX should be connected to GPIO ports
 * Power should be connected through DC connector

• Connect the MX2 wifi module
• Connect the two WIFI antennas using the SMT connector to the integrated chip
• Connect the Movidius chip using the PCI connector
• Connect the D435i camera to a USB3 Port using the cable

Default image

TODO image link

Burn your image and connect to board via HDMI.

Configure your wifi:

https://wiki.cogni.io/Category:HamsterProKit/WifiSetup

or use Ethernet connection:

https://wiki.cogni.io/Category:HamsterProKit/EthernetSetup

ROS1/2 environment

ROS1 - melodic provided

ROS2 - dashing provided

All relative sources are available in .bashrc file, just comment/uncomment required command and executesource .bashrc from terminal

ROS1 examples

1. For launch SLAM example:

roslaunch hamster_launch prokit_slam_2d.launch

To visualize output you can use RVIZ and output topics:

/map - 2D map

/agent<your_agent_number>/scan - 2D scan

/agent<your_agent_number>/camera/depth/color/points - point cloud

Example image below

2. For launch wandering example:

roslaunch hamster_launch prokit_wandering.launch

Wandering with obstacle avoidance will start automatically.

3. For launch detection example:

roslaunch hamster_launch prokit_detection.launch

To see picture with detection use standard ros plugin: rqt_image_view

/agent<your_agent_number>/openvino_toolkit/images - topic to see detection

To control robot driving/steering use /agent*/ackermann_cmd topic.