CaBot BLE Server

BLE server to monitor/control CaBot

Install

• edit .env file

docker-compose build --build-arg UID=$UID
./install.sh

Uninstall

./uninstall.sh

Environment Variables (see .env file as example)

CABOT_NAME                  # cabot name
CABOT_BLE_ADAPTOR           # default is 'hci0'
CABOT_START_AT_LAUNCH       # default is 0, launch cabot system if 1 at start up

variables for cabot2-ace battery configuration

CABOT_ACE_BATTERY_PORT=/dev/ttyESP32
CABOT_ACE_BATTERY_BAUD=115200

variables for device check

LIDAR_IF=enp8s0
LIDAR_IP=192.168.2.201
MICRO_CONTROLLER=Arduino

related to model variant

• GPU PC + Realsense x 3

CABOT_REALSENSE_SERIAL_1
CABOT_REALSENSE_SERIAL_2
CABOT_REALSENSE_SERIAL_3
CABOT_CAMERA_NAME_1
CABOT_CAMERA_NAME_2
CABOT_CAMERA_NAME_3

• NUC + Jetson (Realsense x 3)

CABOT_JETSON_CONFIG="D:192.168.1.51:rs1 D:192.168.1.52:rs2 D:192.168.1.53:rs3"

Test

• launch ble server

docker-compose build --build-arg UID=$UID
docker-compose up ble

• launch cabot_ace battery driver alone

CABOT_ACE_BATTERY_PORT=/dev/ttyXXXX CABOT_ACE_BATTERY_BAUD=115200 python3 -m cabot_ace.cabot_ace_battery_driver