Attention

Bugs: When booting up jetson, remove ethernet cable from jetson's ethernet port. For some reason the jetson will not boot properly with this connected!

Warnings: The ZadarLabs sensor gets extremely warm when in use for prolonged time (>20min). Be careful when handling and do not leave unattended!!!

Compatibility

• ARM system architecture
• ROS1 Noetic
• must install dependencies via sudo ./install_dependencies.sh (described in more detail below)

Installation

• install dependencies sudo ./install_dependencies.sh (described in more detail below)
• make .AppImage executable: chmod +x lib/Zadar_Run-aarch64.AppImage

Accessing jetson / recording data

Jetson is set up with username and password 'radar'.

To record data, we use the zadarlabs_arm_ros1 package with the master.launch file. There are different ways available to start and stop the recording;

• via the web-interface (experimental)
• via ssh & using the terminal (robust, but more advanced) Details on the master.launch can be found below.

The recorded bags appear in the bags/ directory (not tracked by git).

Web-interface: to record data

The test setup proposed, includes a self hosted website which can be used to start and stop ros-recordings. This has not been tested extensively, use with caution.

For the jetson with MAC: 70:66:55:b1:3b:d1 in flynet-an network with IP 10.10.10.241: http://10.10.10.241:5000 (IP should be static inside the flynet-an network)

The source code for the web-app can be found on the jetson in the ~/Documents/radar_web_app_control directory or at: Radar Test Rig Web Application Control.

SSH

Open-ssh is installed, so accessing via SSH at the IP address should work too.

ssh [email protected]:22 # Assuming the ip from above
ssh radar@radar  # Might work too
ssh radar@<ip_address> # General approach

master.launch: Details

This master-launch file is used to record data using the radar test bench. The sensors supported are:

• a TI-AWR1843 radar sensor, connected via USB
• a ZadarLabs zPrime sensor, connected via Ethernet.
• a IMU sensor connected via SPI

TI-AWR1843 configuration

TODO

• ensure it shows up at /dev/ttyUSB0 and /dev/ttyUSB1 via micro-USB cable
• coordinate frame

ZadarLabs configuration

TODO

• fix ethernet subnet
• use their docs.

IMU configuration

• connected via SPI
• how to configure SPI on jetson:

cd /opt/nvidia/jetson-io
sudo ./jetson-io.py

Then enable SPI and reboot. To ensure SPI is loaded, use the following command:

sudo modprobe spidev

To automate this;

sudo nano /etc/modules-load.d/spidev.conf # Create this file
# Add the following line to the file
spidev

Things to document

Steps to get master.launch to run:

• Permission to access ttyUSB0 and ttyUSB1 must be manually set using: sudo chmod 666 /dev/ttyUSB0 /dev/ttyUSB1
• Launch command: roslaunch zadarlabs_arm_ros1 master.launch