Instructions

Initial setup

• On FPGA in ~/.bashrc set the environment variable ROS_IP to the IP address of FPGA and the varialbe ROS_MASTER_URI to http://<NUC IP>:11311

To start driving

• SSH to FPGA and run ./roboy_plexus_bk
• On your laptop listen to the ros topic rostopic echo /roboy/middleware/MotorStatus to monitor how the steering motors behave, make sure that both positions and pwmRef are around zero.
• SSH to NUC and start the steering motor controller rosrun steering motor_controller.py
• SSH to NUC and start the steering controller rosrun steering controller.py, make sure that visual Lidar is running and that we recorded the initial orientation of the bicycle. The controller will then try to keep that orientation.

Useful commands

• rostopic pub -1 /roboy/middleware/MotorCommand roboy_communication_middleware/MotorCommand "{id: 4, motors: [1], setPoints: [-200000]}" to control steering motors individually. Motor with id 1 corresponds to the left motor, with id 2 to the right motor.
• rostopic pub -1 /robike/steering std_msgs/String "left" to slightly turn left, this will pull the left motor and release the right motor.