How to use PX2 - AD-EYE/AD-EYE_Core GitHub Wiki

PX2 User MANUAL

Using PX2 Procedure

Step 1: Power and Connection

Turn on the PX2 power supply and wait a few minutes.

Connect via SSH:

  ssh [email protected]

or:

  ssh [email protected]

Possible problem : SSH connection issues

Such as "Missing privilege separation directory: /var/run/sshd"), you need to set up the SSH directory service fix .

Run these commands on the PX2:

Create the systemd service:

sudo vim /etc/systemd/system/ssh-directory.service

Add this content:

[Unit]
Description=Create SSH privilege separation directory
Before=ssh.service
After=local-fs.target

[Service]
Type=oneshot
ExecStart=/bin/mkdir -p /var/run/sshd
ExecStart=/bin/chown root /var/run/sshd
ExecStart=/bin/chmod 744 /var/run/sshd
RemainAfterExit=yes

[Install]
WantedBy=multi-user.target

Enable and start the service:

sudo systemctl enable ssh-directory.service
sudo systemctl daemon-reload
sudo systemctl start ssh-directory.service

This fix automatically creates the SSH privilege separation directory at boot time, ensuring future SSH connections work reliably.

Step 2: Change to your Git Branch

Change branch:

 git checkout yourbranch
 git pull
 git status

Step 3: Configure ROS IP and ROS_MASTER IP Address (OPTIONAL)

IP Address - PX2 side
- If you look at the PX2 .bashrc file , you have two IP addresses:
```
 cat ~/.bashrc
```
- The ROS IP and ROS MASTER IP , theses two should be identical and also the same as the IP address when running:
```
 ip addr
```
- Make sure these addresses are the same (otherwise modify the bashrc file of the PX2 with VIM).
  
  Note : keep in mind the ROS_MASTER_URI starting with 192.168...
IP Address - Computer Side
- Now open the .bashrc file on your computer in a new terminal. On your computer, you also will find ROS IP and ROS MASTER IP.
```
 gedit ~/.bashrc
```
- Modify the ROS_MASTER IP address of the computer with the PX2 IP address you've kept in mind.
- And then ensure that the ROS IP is the same as the computer IP address when running
```
 ip addr
```
Note : If there is no IP adress lines in the bashrc file copy and paste the same two lines from the PX2)
Source the .bashrc file on both side:
```
 source ~/.bashrc
```

Step 4: Using PX2

Navigate to the launch files folder:

 cd ~/AD-EYE_Core/AD-EYE/ROS_Packages/src/AD-EYE/launch

Note: It is normal that adeye-core has been renamed to AD-EYE_Core on PX2 (due to hard-coded paths).

Launch roscore on PX2:
```
 roscore
```
or launch the manager file you want to execute:
```
 roslaunch adeye manager_performance_testing.launch
```
Use PX2 for your tests...

To copy PX2 results files, run on your computer:

 scp -r [email protected]:/home/adeye/.ros/log /home/adeye/Documents/

Step 5: Shut Down PX2

Quit PX2 (but leave it on):
```
  exit
```
Or shutdown PX2 :
```
  sudo shutdown now
```

NOTE: / ! \ only turn off power supply once the PX2 has shut down (When you can hear the fans spin up) / ! \ .

Then turn off the PX2 power supply.