Testbench Guide

How to setup the Testbench

Reference the Test Bench spreadsheet to see components.

Topside

Topside consists of a computer and the router. The computer must have topside setup on it, as outlined in the environment setup docs (makes sure you follow the network setup instructions).

Bottomside

The rest of the components in the test bench make up bottomside.

• Flash the Ubuntu MATE iso file onto the raspberry pi using a tool such as etcher if not done already
• Make sure that RPI.GPIO is installed (sudo apt-get install RPI.GPIO)
• Follow the github setup docs to setup the pis with ROS if not done already
• Make the following connections with ethernet cords
  • Connect both or one pi’s to the switch
  • Connect the switch to the router
  • Connect the router to your computer
• Test the Connections (make sure you’ve selected the correct internet connection on both computers and you’ve ran network and ssh setup script)
  • Once you’ve ran setup scripts, make sure you open a new terminal
  • Open a terminal on your raspberry pi
    • Ping master from the raspberry pi
      • If your network and cables are setup correctly, you should get a response
  • Open a terminal on your topside computer
    • Ping bottom side from the computer
      • If your network and cables are setup correctly, you should get a response
    • Ex. ssh pi@bottomside
    • Network Debug Steps
      • “cat ~/.bashrc
        • You should see:
          • export ROS_MASTER_URI=http://master:11311
          • export ROS_HOSTNAME=bottomside
      • “cat /etc/hosts”
        • You should see the following lines
          • 192.168.1.100 master
          • 192.168.1.111 bottomside
          • 192.168.1.101 control
• Plugin the thruster test platform into the testbench using the mini Anderson power pole connectors
  • If you hear the ESC boot up sound, the thrusters have power
• Plugin the Arduino Nano from the thruster test platform into the raspberry pi
  • If you see a LED turn on, the Arduino is connected
  • Run the command “ls /dev | grep usb” in terminal, you should have a result
  • While bottom side is running, you should see a flashing light
  • Debug Steps if ROS doesn’t recognize it
    • Confirm that ROS is looking for the same device that is listed in the /dev folder
    • Dmsg --follow
      • Plug and unplug the Arduino, you should have messages logged

Router Setup

• Find the DHCP Reservations List
  • It will have a table with a list of MAC Addresses and ip’s
• Assign bottom side a static ip of 192.168.1.111
• Assign topside a static ip of 192.168.1.100