• aditya mehrotra.

chip updates: development moving forward [updates]

Since Chip has a lot of components we need to install on the OS (the Jetson itself) and we need to configure a lot of setting, add some bluetooth drivers for things like paired linux joysticks/etc. What we're going to do, to make our lives easier next time. Is today do the following things:


(1) Install all the dependencies Chip requires as listed

(2) Configure the Ethernet Options, the ROS Parameters, and the Bluetooth Parameters so everything connects

(3) Make sure everything works as it did on Thursday evening.


and after we've done all that.


(4) Use the following instructions to create a backup image on the host ubuntu machine we used to flash the Jetson last night: https://elinux.org/Jetson/TX1_Cloning, we're going to be using Jetpack 4.3, but nonetheless this should work and it shouldn't corrupt the Jetson since it's just cloning it. "The Jetson must be connected to a remote PC over USB and entered into recovery mode."


So that's the day plan... we should get to installing software and things like that. PAY ATTENTION: ANY DEFAULTS WE USE HERE, IP ADD, USERNAME, PASSWORD, WILL BECOME DEFAULTS OF THE CHIP SYSTEM BECAUSE THE OS COPY WILL CLONE EVERYTHING.


SSH:

ssh chip-core@192.168.1.24

password: 0000


And after just an hour because of good documentation. We think all the software we installed has been re-installed and we're ready to run CHIP again!

So the next step is to get everything up and running and run some tests like we did on Thursday to make sure the software is in the same state as it was then. That includes sitting and standing and IMU stabilization. If that all works then we know that the robot is in the same state that it was Thursday (minus the extra garbage we installed) and then we're ready to create an OS image that we can restore from.


So we haven't created an OS image, but we have tested that everything works. It's nice to see chip sitting down and standing up again.


I think we're going to wait a bit on the image until we've installed more of the packages and changed more of the parameters we needed to change. There are some more changes we forgot about in the Ardupilot configuration file and etc. It might be good to create the OS image after the puppy is walking around using remote control because that will be the base version of CHIP - the minimum viable product. That's also when we will create the first beta release on GitHub. We'll include the Jetson TX1 image and the install_dependencies script with the release.


CHIPv2 Beta Release 0.0.1:

- Full mechanical design and design explanation for the CHIP platform.

- Full electrical design and electrical system explanation for the base CHIP platform.

- Full, updated, and official Bill of Materials for the CHIP platform.

- Full assembly instructions for the base platform.


SalsaOS for CHIPv2 Beta 0.0.1 Release:

- CHIP_ROS package which uses MAVROS and ROS-Joy to make dog perform basic walking and balancing functions using only the remote control w/ on-board enable/disable of RIO.

- RoboRIO base software package with PID for legs and inverse kinematics for control on all 12 joints.

- Basic CHIP Matlab Models that helped in the design of CHIP.

- Jetson TX1 Custom OS Image

- install_dependencies.sh script for CHIP platforms not running Jetson

- Full release of software documentation version one explained.


This is what's planned for the Beta Release. We'll be releasing the beta release in stages. v0.0.1, v0.0.2, v0.0.3 until all the features above are released.


Anyways, we're a long way from there. First we need to tune the PID for the IMU thing we already have. Then we need to write the orientation PID stuff and tune that. And then we can think about walking.


#updates #chip #marspup #omgrobots

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