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 odroid@192.168.0.120:~/Development/ROS-semi-official/src/gscam.tar.gz .
• tar -xzf gscam.tar.gz
• scp odroid@192.168.0.120:~/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 odroid@192.168.0.120:~/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