Baseboard setup - Mokaz/SPARK-martin-project GitHub Wiki

Baseboard setup

The Holybro Pixhawk Jetson Baseboard was set up by following the official guide

Useful info

On-board ethernet IP addresses

Jetson: 192.168.0.1/24 Pixhawk: 192.168.0.3 (local, changes to 10.xxx.xxx.xxx if connected to ethernet on boot)

Wifi (OpenWrt Mocap router) IP addresses: Jetson: 192.168.1.123

Command to edit netplan config:

sudo nano /etc/netplan/01-netcfg.yaml

Int32 version of Jetson IP 192.168.0.1 (used helper script from PX4 repo to convert): -1062731775

Config for launching MicroXRCEAgent on boot

MicroXRCEAgent has been configured to broadcast ROS2 topics on WiFi (wlP1p1s0). /etc/systemd/system/microxrceagent.service uses a custom profile to do this, using the --refs launch argument

Custom config directory: /etc/micro_xrce_dds_agent/custom_profile.xml

MAVLink Setup

MAVLINK communication (for MAVROS) has been configured to use serial connection, TELEM2 on Pixhawk and /dev/ttyTHS1 on Jetson

XRCE-Client Ethernet Setup (ROS2)

ROS2 communication between the Jetson and Pixhawk has been configured to use Ethernet. The following commands were run:

param set MAV_2_CONFIG 0  # Disable MAVLINK on Ethernet (so Ethernet can be used for XRCE-DDS)
param set UXRCE_DDS_CFG 1000 # Ethernet
param set UXRCE_DDS_PRT 8888  # Set port to 8888 (default)
param set UXRCE_DDS_AG_IP -1062731775 # The int32 version of 192.168.0.1

Jetson configured system services

Getty has been enabled on the dev/ttyUSB0 to allow for SSH access over radio the system service is run at boot /etc/systemd/system/[email protected]. This was enabled using:

sudo systemctl enable [email protected]
sudo systemctl start [email protected]