Category:HamsterProKit

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

ROS Workspace

• 2 ROS workspaces are available on the home directory for ROS1/ROS2

Software installation from scratch

1. Linux 16.04 for AAEON board:

 ubuntu_16.04

2. Ros kinetic:

 ros_kinetic

3. Ros 2 ardent:

 ros2_ardent
 Note: link for ros2 crystall, use ardent prefixes instead.

4. Install/update camera realsense D435I SDK and firmware from official source.

 realsense

5. Configure static IP in /etc/network/interfaces:

 Note:valid just for hamster routers, for your own routers please use personal settings

  auto wlan0
  allow-hotplug wlan0
  iface wlan0 inet static
     address 10.0.2.1
     netmask 255.255.255.0
     gateway 10.0.2.138
     dns-nameservers 10.0.2.138
     wpa_ssid "hamster_net5"
     wpa_psk "hamsterHAMSTER"

6. Hamster ROS1 project:

6.1 Workspace:

     $ mkdir -p hamster_ws/src
     $ cd hamster_ws/src
     $ git clone https://git.cogni.io/hamster/hamster.git
          login: provides by request
          password: provides by request
     $ cd hamster
     $ git checkout master
     $ cd ../..
     $ source /opt/ros/kinetic/setup.bash
     $ catkin_make -DCMAKE_BUILD_TYPE=Release

6.2 Settings:

     cp ~/hamster_ws/src/hamster/hamster_launch/config/hamster.config /home/hamster/
      change inside hamster.config:
         export HAMSTER_IP=YOUR_IP
         export HAMSTER_CAMERA_TYPE_REALSESNE=true
         export HAMSTER_ID=agent*
         * - IP last number

         export HAMSTER_WORKSPACE=/home/hamster/hamster_ws

6.3 Launch:

    $ source /opt/ros/kinetic/setup.bash
    $ source hamster.config
    $ cd hamster_ws
    $ source devel/setup.bash
    $ roslaunch hamster_launch single_board.launch

7. Hamster ROS2 project:

7.1 Workspace:

    $ mkdir -p hamster_ros2_ws/src
    $ cd hamster_ros2_ws/src
    $ git clone https://git.cogni.io/hamster/ros2_hamster_driver.git
         login: provides by request
         password: provides by request
    $ cd ../..
    $ source /opt/ros/ardent/setup.bash
    $ colcon build

7.2 Settings:

Driver settings described in hamster_driver_node.cpp file rows 330-335.

Required re-compilation after changes

7.3 Launch:

    $ cd hamster_ros2_ws
    $ source /opt/ros/ardent/setup.bash
    $ . install/setup.bash
    $ ros2 run hamster_driver hamster_driver_node