knr-auv/jetson

jetson-v2

Jetson v2 is software written with the purpose of controlling Okon - an AUV built by KNR AUV team. The target platform is Nvidia Jetson Nano.

Software includes:

• API for comunication with GUI
• Simulation web API client
• API for comunicating with Okon's control module
• PID controller intended to use with simulation
• Autonomy logic based on: zed camera, darknet, attitude estimation

Table of contents

• Usage
  • Startup
  • Important notes

• Networking
  • Packet structure
    • Request packet
    • Steering packet
    • Control packet
    • Settings packet
  • Packet types to jetson
  • Packet types from jetson

Usage

Prerequisites

To kick off with Jetson, you should set up Conda environment and install internal dependencies(simulation, GUI).

Creating Conda Environment with Dependencies (Python)

1. Create Conda Environment and Install Dependencies

   conda env create -f environment.yml

2. Activate Conda Environment

   conda activate jetson

Updating Dependencies (Python) - if environment.yml file changed

1. Activate Conda Environment

   conda activate jetson

2. Update Conda Environment Dependencies

   conda env update -f environment.yml --prune

Dependencies

Okon can operate with and without GUI. Nevertheless they are some common requirements:

• Download release 2.3 of Simulation
• Download release 1.0.2 of GUI

In both cases it is nessecary to launch simulation first, than you can launch main_GUI.py. After that, you should run GUI. GUI in networking settings should have control port: 65531 and stream port: 8090 to allow you to connect to simulation and GUI.

Important notes

Launching jetson without running simulation will fail. If program can't establish connection with simulation or GUI please make sure that IP adresses are corect. If problem still occurs try disabling your firewall. If you have low performance PC it is recomended to launch simulation on another desktop in LAN.

Coordinates system

Networking

App comunicates with Jetson using TCP sockets:

• video default port is 8090
• control default port is 8080

Both ports can be adjusted in settings.

Packet structure

All control packets consist of header and data. Header is defined in following way:

Data length	Packet type
4 bytes (uint32)	1 byte

TODO: describe stream header

Packet types to jetson

• Request 0x01
• Steering 0x02
• Control 0x03
• Settings 0x04

Request packet

Packet used for requesting data from jetson. Jetson should respond with appropriate data.

• 0x01 PID request
• 0x02 config request - wtf?

Steering packet

Packet used for controlling jetson movement.

• 0x01 pad data - int[5] - roll, pitch, yaw , forward, vertical
• 0x02 mode acro - sending this packet will change PID controller mode to acro
• 0x03 mode stable - sending this packet will change PID controller mode to stable

Control packet

• 0x01 arm
• 0x02 disarm
• 0x03 start autonomy
• 0x04 stop autonomy
• 0x05 start telemetry
• 0x06 start detector
• 0x07 stop detector
• 0x08 set motors int[6]

Settings packet

• 0x01 PID - data is double[16] with pid values in order: roll, pitch,yaw, depth

Packet types from jetson

• Telemetry 0x01
• Request responce 0x02
• Autonomy 0x03
• Status 0x04
• Setting 0x05

Telemetry packet

Packets for sending telemetry data.

• 0x01 motors - float[6]
• 0x02 IMU - float[13], attitude, acc, gyro, mag, depth
• 0x03 movement info - float[9], position, velocity, acceleration
• 0x04 Battery

Request responce packet

• 0x01 PID -double[16] with pid values in order: roll, pitch,yaw, depth
• 0x02 arm confirm
• 0x03 disarm confirm

Autonomy packet

• 0x01 detection
• 0x02 autonomy started
• 0x03 autonomy stoped
• 0x04 detector started
• 0x05 detector stoped

Status packet

• 0x01 loggs
• 0x02 sensor statur
• 0x03 task_manager
• 0x04 mode pc_simulation
• 0x05 mode jetson_stm
• 0x06 mode jetson_simulation