Commit 4a2a2f66 authored by Simon Markus Haller-Seeber's avatar Simon Markus Haller-Seeber
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parent 63b63785
# Nvidia Jetson
# Nvidia Jetson Notes
These things are already incooperated into the ansible scripts for generating the nvidia jetson ubuntu 20.04 image.
## To get UART Up and running:
......@@ -35,17 +37,3 @@ To enter programming mode: With the device unplugged, press and hold the button
Purple: Highest available. In this mode, the trigger will pick the highest power profile the charger advertises
White: Auto-cycle. In this mode, the trigger will cycle through available profiles.
# Controller Stuff
<node name="control_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="joint_state_controller
joint_motor_controller" />
This launches all four joints at the same time, and SIMULTANEOUSLY publishes velocities to these four joints.
The command initially was:
rostopic pub -1 /WHEEL_JOINT_NAME/command std_msgs/Float64 "data: 10"
I had to repeat this command 4 times for 4 different joints. Now it is the follows. One command for four joints.
rostopic pub -1 /joint_motor_controller/command std_msgs/Float64MultiArray "data: [10, 10, 10, 10]"
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