On Board Computer

Installation

The general installation of the code base on the car's on-board computer is very similar to what is described in Getting Started with a few key differences:

1. The Twizy has it's own Github account which should be used for clones and commits. Credentials for this account can be found in separate startup instructions.

2. When running the install script (install.sh), it is important that the TWIZY_ONBOARD environment variable is set to something "truey", preferably 1:

   TWIZY_ONBOARD=1 ~/autonomous-twizy/src/install.sh

   This will skip installation of some packages, notably webots which is only needed for testing without access to the car. This means you won't be able to start every node present in the repo without errors, but all nodes which are necessary for tests and the operation of the car should run. If the script finishes successfully, follow any final instructions printed to the terminal.

   Setting TWIZY_ONBOARD=1 also disables some tests relating to CAN, as running these on the car will make it move around semi-randomly, which is of course not desired.

3. Make sure the Arduino connected to the rear wheel encoders is plugged into the computer and accessible through the port /dev/ttyACM0. Then follow instructions on installing Arduino firmware here.

4. Now you are hopefully done, and everything will work perfect once you start navigation stack with

   roslaunch twizy_bringup navigation.launch

Notes

• When updating Ubuntu base, you may need to reinstall Kvaser's canlib afterwards or no contact can be made with CAN