Arlobot/Jetson Nano no stop

[truc...@gmail.com]

I have the ROS/Arlobot code working on the Jetson Nano, but in serial testing and keyboard control it will not stop. I've tried k ,space-bar and every other key, It will do everything else, stop. speed up, slow down, turn and increase and decrease linear motion but will not stop.

Thanks'

[thomasco...@gmail.com]

@truckwiz,

Did you initially use SimpleIDE and the Parallax Arlo checkout C code programs to verify that the PAB was controlling the DHB-10 correctly before installing the Arlobot PropWare?

What version of JP are you running on the Nano and did you upgrade the installed Ubuntu1 8.04.3 to 20.04.3? I used these instructions to upgrade Ubuntu 18.04.3 to 20.04.3. If you are using a M2 WiFi module on your Nano, don't use their prebuilt image as it does not work well with the M2 WiFi module. I upgraded using their guide instead.

Also did you install ROS Noetic or some other version of ROS?

Are you attempting to run " PropellerSerialTest.sh" using SSH?

I have been running "PropellerSerialTest.sh" from the SBC (Rpi 4B/4GB presently) Desktop terminal without any control issues.

I have successfully installed "Workstation via x11docker" on a spare Nano 4GB running JP4.6 (Ubuntu 18.04.3) and can use  docker-ros-xterm.sh to run keyboard_teleop.launch and run Arlobot remotely.

Regards,

TCIII

[truc...@gmail.com]

As you suggested, I upgraded to 20.04.3 per the instruction's provided, I have Noetic installed and trying to get the Arlobot install script to make it all the way to the end, but it fails at a point.

[thomasco...@gmail.com]

@truckwiz,

Where in the install did it stop?

Can you provide some error output?

Regards,

TCIII

[truc...@gmail.com]

For some reason it didn't create a .nvm folder and set it up , I set one up and I think I installed everything into it. The installation finish and it can find the Activity board but throws a ton of error's if I run the serial test.

Thank's for the help!

[thomasco...@gmail.com]

@truckwiz,

You shouldn't have had that much of a problem installing the Arlobot ROS Noetic package.

I have installed the Arlobot ROS Noetic package on three different SBCs (Nano, Rpi, LattePand x86) running Ubuntu 20.04 and the only issue that I had was the failure to install the Slam Toolbox Plugin.

Chris has told me that he too has seen where the Slam Toolbox Plugin was not installed on a Rpi SBC.

You are running a Nano 4GB, right? If you are, how did you upgrade the Ubuntu 18.04 that comes with JP 4.6? I followed these instructions and did it manually without using their image.

The PropellerSerialTest.sh script worked the first time after I had correctly edited "per_robot_settings_for_propeller_c_code.h" to reflect my Arlobot sensor configuration and downloaded the Arlobot PropWare to the PAB.

Maybe you need to start over from scratch?

Regards,

TCIII

[Brian Beckius]

I'm going to start with a fresh Jetson Nano image and then upgrade it. I'm thinking that there might have been something wrong from the beginning and that is what is causing the problem.

Thanks' for the help!

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[danial dunson]

I'm not sure it's relevant, but my Jetson nano will not communicate with the P8X32A MCU (activity board and motor controller) via full-duplex UART. Had to use a USB to UART adapter. I'm using the Arlo platform in a university research project, and have been following ya'll a couple of months now!

[thomasco...@gmail.com]

@dwd,

Do you mean that you cannot establish bi-directional USB communication?

What version of Jetpack are you using with your Nano and is your Nano a 4GB/2GB? How did you compile the PAB software to download to the PAB?

I have had good success with the Rpi 4B/4GB, but I had to use either a LattePanda 4GB/64GB (x86) or my dual boot HP Laptop to compile and download the PAB software because neither the Rpi or the Nano can compile the PAB software.

Regards,

TCIII

[thomasco...@gmail.com]

@dwd,

Additionally, did you install Ubuntu 20.04 on the Nano as JP 4.6 comes with Ubuntu 18.04 only?

Regards,

TCIII

[danial dunson]

The advisors have required us to build on top of their existing platform and they refuse to upgrade from the 18.04 Melodic setup, so just the stock JP image. Our Platform does not have the PAB and we are sending commands directly to the DBH-10 controller, and we have established bi-directional communication via a USB3.0 port and an adapter. 

When using the UART pins on the J41 header, we have concluded that our 4GB devkit does not acknowledge UART echos, and seems to be in half-duplex operation....even though the SOC data sheet describes full-duplex UART capability. Have yet to find the root cause. Currently using the pyserial API, but I plan on testing J41 UART bi-directionality with a putty terminal in the lab next week.

Curious to know if your nano setups are using the J41 pins or a USB adapter for UART communication. And yeah our controller firmware is completely stock.

[thomasco...@gmail.com]

@dwd,

Installing and using the PAB would save you from the pain that you are presently going through.

This Google Group is pretty dead as you can tell from when the majority of the group quit commenting around 2019.

The Group owner Chris Lofland is nowhere to be found this week unfortunately.

Wish I could be of more help.

Regards,

TCIII

[thomasco...@gmail.com]

@dwd,

Additional observation: Expecting the Nano to perform SLAM (rviz/RPLidar) and deal with low level motor commands and responses may overtax the Nano.

When I have SLAM running on my ArloBot's Rpi 4B/4GB, it requires all four processors to be running near maximum capacity.

Also, I recommend a micro SD card of no less than 128GB and U3 speed.

Regards,

TCIII

[thomasco...@gmail.com]

@truckwiz,

You indicated in a previous post that once you got your ArloBot up and functional that you were able to make a map using rviz.

Are you using the Slamtech A1M8, like I am, or a higher resolution version?

Regards,

TCIII 

[danial dunson]

Hey all,

My duo university group has finished our faculty sponsored research project, and would like to thank everyone that provided kind feedback along the wayl Our custom ROS workspace has the arlo perfroming object detection and localization remotely on a Laptop from a Jetson 4Gb. I will share the final report and github repository in coming weeks! 

Thanks all!

[thomasco...@gmail.com]

@ dwd,

Glad to have been of help. Looking forward to seeing your final report.

I have replaced my Eddie Motor/Wheel Assemblies on my ArloBot with one of the last remaining Arlo Motor/Wheel Assemblies from Parallax. The Arlo Motor/Wheel Assemblies are far superior to the Eddie Assemblies as far as tracking and rotation goes.
I am presently using the Eddie Motor/Wheel Assemblies on a 14" square robot chassis with a PAB WX, Arlo Encoders, and HB25 motor drivers. So far I have calibrated the Arlo Encoders and am now working to determine the optimum values for tracking and rotation. I am following this thread on the Parallax Forum.
Chris' PAB/HB25 configuration code can be found here.

Regards,

TCIII