Basestation

TODO:

• add visualizer?
• get stuff working... haha
• make docker nicer (docker-compose and X11 forwarding?)

Joshua Spisak jspisak@andrew.cmu.edu

Dependencies: docker docker-compose (https://docs.docker.com/compose/install/)

Configuration:

• Update operations/scripts/bst_fm.sh to reflect your vehicle #.

• ie. ROS_DOMAIN_ID=N2 RUST_LOG=debug zenoh-bridge-dds -d N2 -m peer -e tcp/10.42.N.200:7447 where N is your vehicle #

• Update operations/config/launch_basestation.yaml to point to the correct IP address of your Adlink

• ie. 10.42.N.200 where N is your vehicle #

• Update operations/dockerfiles/basestation.Dockerfile to use the correct ROS_DOMAIN_ID

• ie. RUN echo "export ROS_DOMAIN_ID=N2" >> ~/.bashrc where N is your vehicle #

• Update the remote_spoof*, shutdown.sh scripts to use the correct vehicle IP address

Prelims: bastation ip:

• address: 10.42.0.<70 - 79>
• netmask: 255.255.255.0

Note- Leave Gateway empty

Set up Environment:

./operations/scripts/bst_docker_build.sh

or

docker pull iacteams/basestation

Then:

./operations/scripts/bst_docker_up.sh
./operations/scripts/launch_basestation.sh

To open a bash shell inside the container:

./operations/scripts/bst_docker_join.sh

To close the base station, type:

Ctrl-B, :kill-session

and press Enter.

Troubleshoot:

Issue #1 : docker.errors.DockerException: Error while fetching server API version: ('Connection aborted.', PermissionError(13, 'Permission denied'))

sudo chmod 666 /var/run/docker.sock

Use battery monitor

• Launch a separate terminal on a pitlane laptop