CaBot BLE Server

BLE server to monitor/control CaBot

Install

• edit .env file

git submodule update --init --recursive
docker-compose build --build-arg UID=$UID
./install.sh

Uninstall

./uninstall.sh

Environment Variables (see .env file as example)

CABOT_NAME                  # cabot name
CABOT_BLE_ADAPTER           # default is 'hci0'
CABOT_START_AT_LAUNCH       # default is 0, launch cabot system if 1 at start up
CABOT_NO_BLE                # default is false, do not use BLE if true
NO_BUILD                    # default is false, do not build when launch if true

variables for cabot2-ace battery configuration

CABOT_ACE_BATTERY_PORT=/dev/ttyESP32
CABOT_ACE_BATTERY_BAUD=115200

variables for device check

LIDAR_IF=enp8s0
LIDAR_IP=192.168.2.201
MICRO_CONTROLLER=Arduino
ARPSCAN_LIDAR		# prefix lidar name(default is Velodyne).If you use Hesai Lidar, set this to Hesai.

related to model variant

• GPU PC + Realsense x 3

CABOT_REALSENSE_SERIAL_1
CABOT_REALSENSE_SERIAL_2
CABOT_REALSENSE_SERIAL_3
CABOT_CAMERA_NAME_1
CABOT_CAMERA_NAME_2
CABOT_CAMERA_NAME_3

• NUC + Jetson (Realsense x 3)

# User name to login jetson (default=cabot)
CABOT_JETSON_USER=cabot
# specify jetson mate config. expects a config which is provided for cabot
# jetson hosts will be automaticallly shutdown in the written order
CABOT_JETSON_CONFIG="D:192.168.1.52:rs3 D:192.168.1.51:rs2 D:192.168.1.50:rs1"
# ssh id file to log in jetson
CABOT_ID_FILE=id_ed25519_cabot

On Jetson hosts, please use "visudo" command to modify "/etc/sudoer" and add the following line to shutdown Jetson automatically.

cabot   ALL=NOPASSWD: /sbin/poweroff

Test

• launch ble server

docker-compose build --build-arg UID=$UID
docker-compose up ble

• launch cabot_ace battery driver alone

CABOT_ACE_BATTERY_PORT=/dev/ttyXXXX CABOT_ACE_BATTERY_BAUD=115200 python3 -m cabot_ace.cabot_ace_battery_driver

options
-od,　　--odrive_power    #　turn on[1] or off[0] odrive motor controller.