(ENV200) Collect launch files for sensors

[dtonda8]

Essentially the same as tasks as for the completed twizy issue.

Ensure the following sensors are accessible and can be launch via ROS 2:

• Lidar
• Cameras (we worked on this before here)
• IMU
• GNSS-INS

[dtonda8]

Key Details

Set up:

• PC connected to router
• Velodyne VLP32C connected to router
• (Optional) Router's WAN port connected to network switch (big machine with a lot of ethernet ports) if you want the PC to access the internet

Router's IP: 192.168.12.1 (found using ip route show defalt)
Router User/Pass at IP: admin/Civil01! (i.e. login deets located on the router)
PC's IP: 192.168.12.2
Connect to RUT950 network to ssh to the pc

02/09/24 Log

enp2s0 is the network interface where the lidar is connected (as of 02/09/24).
enp2s0 shows "unmanaged", following these instructions:

• Doesn't work: https://askubuntu.com/questions/1039233/no-wired-connection-wired-unmanaged-ubuntu-18-04
• Worked: https://askubuntu.com/questions/1290471/ubuntu-ethernet-became-unmanaged-after-update

Fix internet connection. Use sudo systemctl restart systemd-networkd to reset network

Configuration at 192.168.1.201 should be similar to what we have for the twizy. But the current config shows motor state and laser being off.

To Launch velodyne:
First terminal: ros2 launch velodyne_driver velodyne_driver_node-VLP32C-launch.py
Second terminal: ros2 launch velodyne_pointcloud velodyne_transform_node-VLP32C-launch.py
Issue: first command trys to poll(), which isn't a good sign.

Getting velodyne poll(), most likely because velodyne motor & laser is off: May need to revisit the manual https://icave2.cse.buffalo.edu/resources/sensor-modeling/VLP32CManual.pdf

[dtonda8]

Motor & Laser state is on now, I didn't do anything additional besides turning off/on the van!

Just had to run the last two commands (assuming the setup is still the same)

[dtonda8]

Tried heaps of configurations, but worth trying:

• Try using the PEAK-CAN usb adapter from the twizy
• Occasionallysudo reboot
• Try Drive mode

I can manage to get the red light to stop flashing even when Twizy on brakes and gear set to Neutral