phoenix-template

Prerequisites

1. Install necessary tools and utilities
   • sudo apt install git
   • sudo apt install net-tools
2. Install ROS Melodic
   • http://wiki.ros.org/melodic/Installation/Ubuntu
   • Perform full desktop installation
3. Install necessary ROS packages
   • sudo apt install ros-melodic-joy

Setup

1. If you do not have a catkin workspace set up, create one:
   • mkdir -p ~/catkin_ws/src
   • cd ~/catkin_ws/src
   • echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
2. Clone repo into src directory. Make sure you are in catkin_ws/src.
   • git clone https://github.com/SDSU-Robotics/phoenix-template.git.
3. Build repository
   • cd ~/catkin_ws; catkin_make
4. Source executables
   • source ~/.bashrc

Enable Hot Swapping

Configure Interface

• sudo gedit /etc/network/interfaces (if that doesnt work, try nano in plasce of gedit)

• Add these lines below the text already in the file and save (Each point is one line)

  allow-hotplug can0

  iface can0 can static

  bitrate 1000000

  txqueuelen 1000

  up /sbin/ip link set $IFACE down

  up /sbin/ip link set $IFACE up type can

• A warning about not being able to save metadata will show up, that is fine.

Connect the CAN interface. The light will turn green if it is configured properly

Running

1. Connect CAN interface
2. Connect game controller
3. Call launch file
   • roslaunch phoenix-template TalonTest.launch
   • Motor controller lights will turn to flashing orange
   • Replace TalonTest.launch with the name of whatever launch file you wan to run.