...
Minimal
...
instructions
...
for
...
deploying
...
on
...
to
...
several
...
kayaks
...
at
...
the
...
sailing
...
pavilion,
...
including
...
setup
...
and
...
tear-down.
...
Setup and Connect
Setup GPS
- Route the GPS coax cable over pipes to the door and throw upstairs.
- Zip tie one of the pole-mounted GPS antennas to the upstairs railing. It is important to use the exact railing pole pictured here. Pass a loop of the cable through the railing and pass the end through the loop to provide strain relief.
- Plug the GPS's USB cable into the computer.
- Start the shoreside GPS server by running the script "start_shore.sh"
...
- in
...
- hovergroup/third-party/josh_rtklib.
...
- If
...
- it
...
- fails
...
- to
...
- start,
...
- wait
...
- a
...
- bit
...
- and
...
- try
...
- again.
...
Connect
...
to
...
vehicles
...
- Plug
...
- in
...
- the
...
- POE
...
- injector
...
- for
...
- the
...
- shoreside
...
- antenna
...
- next
...
- to
...
- the
...
- door.
...
- The
...
- antenna
...
- itself
...
- can
...
- be
...
- left
...
- downstairs
...
- or
...
- moved
...
- upstairs
...
- if
...
- more
...
- range
...
- is
...
- desired.
...
- Install
...
- a
...
- fresh
...
- battery
...
- into
...
- the
...
- rear
...
- position
...
- of
...
- a
...
- kayak
...
- and
...
- connect
...
- the
...
- power
...
- cable.
...
- Battery
...
- voltage
...
- can
...
- be
...
- checked
...
- by
...
- probing
...
- the
...
- left-most
...
- and
...
- right-most
...
- sockets
...
- of
...
- the
...
- larger
...
- connector.
...
- A
...
- fresh
...
- battery
...
- should
...
- read
...
- upwards
...
- of
...
- 13.5
...
- volts.
...
- Make
...
- sure
...
- the
...
- kayak's
...
- e-stop
...
- switch
...
- is
...
- depressed.
...
- Power
...
- on
...
- the
...
- vehicle
...
- using
...
- the
...
- button
...
- at
...
- the
...
- top
...
- right
...
- of
...
- the
...
- CPU
...
- box.
...
- After
...
- 15
...
- seconds
...
- or
...
- so
...
- you
...
- should
...
- be
...
- able
...
- to
...
- ssh
...
- to
...
- the
...
- vehicles
...
- from
...
- terra.
Deployment
Start mission software
To start the default mission use the following commands (substituting the correct vehicle name):
| Code Block |
|---|
h3. Deployment h4. Start mission software To start the default mission use the following commands (substituting the correct vehicle name): {code} terra$ ssh nostromo nostromo$ cd hovergroup-extend/missions/trunk/baseline_pShare nostromo$ ./launch_vehicle.sh --nostromo {code} |
In
...
a
...
new
...
terminal
...
window:
| Code Block |
|---|
} terra$ cd hovergroup/ivp-extend/missions/trunk/baseline_pShare terra$ ./launch_shore.sh {code} |
At
...
this
...
point
...
pMarineViewer
...
should
...
launch
...
and
...
the
...
kayak
...
should
...
appear.
...
Open
...
a
...
browser
...
window
...
and
...
go
...
to
...
localhost:8080
...
to
...
view
...
a
...
vehicle
...
status
...
report.
...
With
...
the
...
e-stop
...
depressed
...
you
...
can
...
also
...
check
...
that
...
you
...
are
...
able
...
to
...
send
...
waypoints
...
to
...
the
...
vehicle
...
by
...
pressing
...
deploy
...
and
...
right
...
clicking
...
in
...
pMarineViewer.
...
Launch
Make sure the vehicles are all-stopped
...
and
...
the
...
e-stop
...
is
...
depressed
...
before
...
launching.
...
Launching
...
is
...
a
...
two-person
...
operation.
...
Park
...
the
...
cart
...
a
...
parallel
...
to
...
the
...
edge
...
of
...
the
...
dock
...
and
...
lower
...
the
...
side
...
wall.
...
Place
...
the
...
modem
...
on
...
the
...
dock
...
before
...
lifting
...
the
...
kayak
...
into
...
the
...
water.
...
Be
...
careful
...
not
...
to
...
bang
...
the
...
thruster
...
or
...
skeg.
...
Lower
...
the
...
modem
...
into
...
the
...
water
...
once
...
the
...
vehicle
...
is
...
in.
...
Finally,
...
twist
...
the
...
e-stop
...
to
...
release
...
and
...
drive
...
the
...
vehicle
...
away
...
from
...
the
...
dock
...
using
...
the
...
remote.
...
Press
...
the
...
deploy
...
button
...
in
...
pMarineViewer
...
to
...
activate
...
all
...
vehicles.
...
Note
...
that
...
the
...
RC
...
will
...
take
...
precedence
...
if
...
it
...
is
...
turned
...
on.
...
Monitoring
...
Operations
...
Most
...
important
...
parameters
...
are
...
displayed
...
in
...
the
...
web
...
viewer.
...
You
...
should
...
return
...
the
...
vehicles
...
if
...
their
...
battery
...
voltage
...
drops
...
to
...
11.8
...
volts.
...
At
...
11.2
...
volts,
...
maximum
...
thrust
...
will
...
be
...
limited
...
to
...
20%.
...
At
...
10.6
...
volts,
...
which
...
comes
...
very
...
soon
...
after
...
11.2
...
volts,
...
thrust
...
is
...
cut
...
completely.
...
Retrieval
Take the vehicles out of the water just as they were launched. Always all-stop the vehicle and engage the e-stop before recovery.
If the terminal window you used to start the vehicle software is still open, you can use the "2" option to stop it. Otherwise, use the command "killall pAnter". Check that all apps have closed using the "ps -a" or "ps aux" commands and kill apps individually as needed.
Once the software is stopped use the following commands on the shoreside to fetch the log files.
- From anywhere on terra, type multi-logfetch followed by the first letter of each vehicle you want to get logs from. For example, type "multi-logfetch nst" to get logs from nostromo, silvana, and terra.
- Again from anywhere on terra, run "s3_upload" to upload the day's logs to Amazon S3.
Both commands can be rerun multiple times as needed without issue.
Cleanup
- Power off kayaks and remove batteries. Follow instructions inside charger box to charge.
- Stop GPS server and disconnect USB from computer. Retrieve antenna.
- Unplug WiFi antenna POE.