Getting started¶
Connect to FPGA¶
Connect via USB port (not recommended, only if not found in the network)¶
Power-up your FPGA with the flashed SD card in it. Connect a USB cable to the UART port of the FPGA, after that use the following command:
sudo screen /dev/ttyUSB0 115200
You should see either the FPGA boot screen or already the login screen (if not press enter). Login in data: user: ‘root’ password: ‘Roboy2016’
To find out what IP the FPGA is using:
ifconfig
Connect via ssh¶
Connect either an ethernet cable to the FPGA and your LAN or connect it directly to your PC (in ubuntu-> settings-> network-> wired-> options-> ipv4-> shared_to_others)
The FPGA can be found via NMAP (search for Gandalf)
sudo nmap 192.168.0.0/24
If you cannot find this net, use Roboy’s class B net:
sudo nmap 192.168.0.0/16
In the ~/.bashrc of the FPGA edit the ROS_MASTER_URI variable so it is set to the IP where ROS core was started. Source the ~/.bashrc and make sure ROS_IP and ROS_MASTER_URI are set correctly:
echo $ROS_IP
echo $ROS_MASTER_URI
Copy data to FPGA¶
Copy plexus to FPGA¶
Copy the roboy_plexus binary to the FPGA:
scp <YOUR CATKIN WORKSPACE>/devel/lib/roboy_plexus/roboy_plexus root@10.42.0.1:~
Copy HDL to FPGA¶
The copy is only needed if the RBF file was changed.
FireUp the system¶
Start the ROS core on your host PC.
roscore
Run roboy_plexus on the FPGA:
./roboy_plexus
If you haven’t done this before execute the following commands on your computer:
echo "export ROS_IP=$(hostname -I|head -n1 | awk '{print $1;'})" >> ~/.bashrc
echo "export ROS_MASTER_URI=http://$ROS_IP:11311" >> ~/.bashrc
Troubleshooting¶
Troubleshooting plexus on PC¶
Echo $ROS_MASTER_URI shows the wrong IP even bashrc was edited
First solution
source ~/.bashrc
Second solution (IP address has to be changed to your current IP)
export ROS_MASTER_URI=http://192.168.0.231:11311
Troubleshooting plexus on FPGA¶
If the LED slides shows two “running” LED’s, plexus is started more than once. In that case use the following command:
killall roboy_plexus
It might happen that the ssh interface doesn’t open the terminal. This might occur if the plexus code is broken - to prevent it from autostart. In that case, connect the board to a PC via USB and comment out the last line of ~/.bashrc that starts Plexus.
Visualize data¶
For visualizing your data use RQT
Go into your catkin WORKSPACE and into SRC and clone RQT
git clone https://github.com/Roboy/roboy_rqt_plugins.git
After catkin_make is executed the new plugins have to be sourced:
source <YOUR CATKIN WORKSPACE>/devel/setup.bash