Jetson Nano powered bot.
- Jetson Nano 4GB Developer Kit
- Power Bank, ~5V/2A (to power Nano)
- MPU 9250/9050/6050 IMU module
-
Preparing Nano
- Flash latest jetpack on a micro-sdcard, insert the card and power up Nano
- Disconnect the J48 jumper to power nano via micro-USB port
- Connect USB-A of power bank to micro-USB B of Nano to power it UP!
- Set Nano to 5W(power saving) mode before deploying
- Insert the wifi-adapter and connect Nano to a LAN
- Note down the Nano's IP address(will be used furhter for SSH and ROS_MASTER_URI):
$ hostname -I -
IMU
- Connections:
IMU Jetson Nano VCC pin 17 (3.3V) GND pin 25 (GND) SCL pin 5 (SCL) SDA pin 3 (SDA) - VCC of the IMU to pin 17 (3.3V) of the Jetson Nano
- GND of the IMU to pin 25 (GND) of the Jetson Nano
- SCL of the IMU to pin 5 (SCL) of the Jetson Nano
- SDA of the IMU to pin 3 (SDA) of the Jetson Nano
- *Note: Check the IMU's orientation before fixing it on the chassis
-
Connect Arduino cable to Nano
- Add or modify following lines into the .bashrc file on Nano:
- export ROS_URI_MASTER http://<Nano's IP>:11311
- export ROS_IP http://<Nano's IP>
- Connect basestation to the same LAN on which Nano is connected
- SSH into Nano via its previous noted IP address
$ sudo ssh -X mars@<Nano's IP>
- Launch Rosbridge Server on Jetson Nano
$ roslaunch robridge_server rosbridge_websocket.launch
- Launch the IMU publisher Node on Nano
$ roslaunch imu_package imu.launch
- Add or modify following lines into the .bashrc file on BaseStation:
- export ROS_URI_MASTER http://<Nano's IP>:11311
- export ROS_IP http://<BaseStation's IP>
- Launch rosserial node on Nano
$ roslaunch rosserial_python serial.launch /dev/ttyUSB0
- Launch marsbot
$ roslaunch marsbot marsbot.launch
- Operate