q-pup_robot

ROS Package for q-pup

Prereqs

1) Install CUDA: https://developer.nvidia.com/cuda-downloads

2) Install the ZED SDK

wget https://download.stereolabs.com/zedsdk/3.7/cu115/ubuntu20
chmod +x ubuntu20
./ubuntu20

Workspace Initialization

cd <workspace>/src
git clone https://github.com/q-pup/qpup_robot.git

# Install all dependencies
rosinstall --catkin . qpup_robot/qpup_robot.rosinstall
rosdep install --from-paths . --ignore-src -r -y

Hardware Initialization

CAN

sudo apt install busybox
sudo busybox devmem 0x0c303000 32 0x0000C400
sudo busybox devmem 0x0c303008 32 0x0000C458
sudo busybox devmem 0x0c303010 32 0x0000C400
sudo busybox devmem 0x0c303018 32 0x0000C458

sudo modprobe can
sudo modprobe can_raw
sudo modprobe mttcan

Hard Realtime Loop

qpup.launch makes the assumption that you are running a linux kernel will realtime capabilities (like our NVIDIA Jetsons where we have enabled the PREEMPT_RT kernel patch). If this assumption is not true(ex. you are running nodes on your own development machines), you must run qpup.launch with use_realtime_kernel:=false

On machines with a realtime kernel, make sure you have permissions to lock unlimited memory for processes.

To check:

ulimit -l

If it does not return unlimited, you must adjust your memory locking permissions:

1. Open /etc/security/limits.conf as sudo in a text editor (ex. gedit, nano, vim)
2. Add the following line:

   <your username>    -   memlock   -1

3. Reboot your computer
4. Check that ulimit -l returns unlimited

Bringup

rosrun qpup_bringup bringup_can.sh

roslaunch qpup_bringup demo.launch
# or
roslaunch qpup_bringup qpup.launch

#or
cd <repo>
tmuxinator start qpup

# Additionally on Computer with ros-noetic-desktop-full:
roslaunch qpup_bringup gui.launch