Software Setup - Sensors and Actuators
Controller Sony DualShock 4 V2
Connect the Controller via bluetooth
sudo bluetoothctl
Enable the agent and set it as default:
[bluetooth]# agent on
[bluetooth]# default-agent
Power on the Bluetooth controller, and set it as discoverable and pairable:
[bluetooth]# power on
[bluetooth]# discoverable on
[bluetooth]# pairable on
Scan for devices:
[bluetooth]# scan on
Put the DualShock 4 into pairing mode by pressing and holding the PlayStation and Share buttons until the light bar starts flashing.
Discover the DualShock 4 MAC address:
[bluetooth]# devices
Pair with the DualShock 4:
[bluetooth]# pair DC:0C:FF:B2:79:EE
Allow the service authorization request:
[agent]Authorize service service_uuid (yes/no): yes
Trust the DualShock 4:
[bluetooth]# trust DC:0C:FF:B2:79:EE
The DualShock 4 is now paired.
Turn the DualShock 4 off when it’s no longer in use by pressing and holding the PlayStation button for 10 seconds. Press the PlayStation button to use the DualShock 4 again.
Test the controller
sudo apt-get install joystick
ls /dev/input
jstest /dev/input/js0
Realsense d435i camera
Run the racecarx docker container in interactive mode
~/racecarx/RACECARX/racecarx.sh
Run the firmware update tool and print the connected devices
rs-fw-update -l
My oputput looks like this
connected devices:
1) Name: Intel RealSense D435I, serial number: xxxxxxxxx, update serial number: xxxxxxxx, firmware version: 05.11.06.250, USB type: 3.2
Find the latest firmware and copy its link latest firmware
download and install latest firmware. See also here
cd /tmp
wget https://downloadmirror.intel.com/29703/eng/D400_Series_Development_FW_5_12_6_0.zip
apt update # gets the index
apt-get install unzip # installs unzip
unzip D400_Series_Development_FW_5_12_6_0.zip
rs-fw-update -f Signed_Image_UVC_5_12_6_0.bin
we should see the updated firmware version
rs-fw-update -l
After the update my output looks like this:
connected devices:
1) Name: Intel RealSense D435I, serial number: xxxxxxxxx, update serial number: xxxxxxxx, firmware version: 05.12.06.00, USB type: 3.2
Focbox Electronic Speed Control
- Get the VESC Tool. The free version is sufficient.
- The required Firmware VESC_servoout.bin is available in the vedderb/vesc_tool github repository at res/firmwares/410_o_411_o_412
SparkFun 9DoF Razor IMU M0
Install Arduino Firmware as described here
RPLidar A1M8
Installation consists of proper configuration of UDEV rules.