Henry's Laser Turret

Jetson Setup

Make sure ROS Melodic is installed

Make a workspace

    mkdir -p ~/catkin_ws/src
    cd ~/catkin_ws/src
    git clone --recursive https://github.com/davesarmoury/HenryLaserTurret.git
    cd ~/catkin_ws
    rosdep install --from-paths src --ignore-src -yr
    catkin_make

Make sure your hosts are setup properly in /etc/hosts

Add these lines to your .bashrc

    source ~/catkin_ws/devel/setup.bash
    export ROS_MASTER_URI=http://<ned_hostname>:11311

Install chrony

    sudo apt install chrony

Add this line to the bottom of cat /etc/chrony/chrony.conf

    allow 192.168.2.0/24

Restart chrony (or the whole machine)

Ned Setup

SSH into ned

    touch ~/catkin_ws/src/niryo_robot_description/CATKIN_IGNORE
    touch ~/catkin_ws/src/niryo_robot_msgs/CATKIN_IGNORE

    cd  ~/catkin_ws/src/
    git clone --recursive https://github.com/davesarmoury/HenryLaserTurret.git

    cd  ~/catkin_ws/
    rm -rf build devel

    catkin_make

Make sure your hosts are setup properly in /etc/hosts

Disable the firewall

    sudo ufw disable

Update Networking. Change /etc/network/interfaces to look like below

    auto lo
    iface lo inet loopback

    #allow-hotplug eth0
    #iface eth0 inet static
    #    address 169.254.200.200
    #    netmask 255.255.0.0

    allow-hotplug eth0
    iface eth0 inet dhcp

Install chrony

    sudo apt install chrony

Add this line to the top of cat /etc/chrony/chrony.conf

    server <Jetson Hostname> iburst prefer

Restart chrony (or the whole machine)