MDO-HuRT-S

Multi-domain Operations Human-Robot Teaming Sandbox (MDO-HuRT-S). This repository is to document the autonomous robot setup for use in the MDO-HuRT-S.

ENABLE Backseat Port

edit the file /searobot/COMM.cfg between lines 'LLC' and 'HCU' lines add 'OP2 127.0.0.1 8003' then reboot

On OIS software

Enable Secondary Control on the 'Commands to USV' GUI

BCU is 192.168.1.x1

port 8001 is for the OIS/shorside/joystick port 8003 is for the backseat/DAC

netcat to connect to "Front Seat" Nav Computer

TO READ

netcat for example: netcat 192.168.1.21 8003

To WRITE

echo '$PSEAC,T,,20,-10,THR_ON*02' | netcat 192.168.1.21 8003

SeaRobotics Surveyor M1.8 -- Autonomous Surface Vehicle (ASV)

The bedrock of MDO-HuRT-S is the SeaRobotics Surveyor M1.8 without any water sampling or lidar sensors.

Robot Network

Robot Factory Default Setup

Ubiquiti AC Bullet: Base Access Point

Connected to the router, this Ubiquiti AC Bullet is the Access Point to all the ASVs.

The bullets have been sent to us with two different passwords ---- username: searobot ---- password Se@r0bot or Sear0bot

firmware ---- Air0S8 -> 2WA.V8.7.11 ---- Build Number: 46972

Ubiquiti AC Bullet: ASV

Each ASV has its own dedicated Ubiquiti AC Bullet WiFi radio attached in bridge mode.

BCU (navigation computer)

Changing BCU ip ---- On the laptop provided open WinSCP ---- Log in ---- protocol : SFTP ---- Host name: BCU current ip (factory default is 192.168.0.50) ---- Username: root ---- Password: searobot ---- On the right side follow the file path ../etc/network ---- Open the interfaces text file ---- Edit the ip’s

DAC (data acquisition computer) (named searobot01/02/ect)

logging into DAC with hdmi ---- when turned on a purple screen will come up because of monitor issues ---- work around this by pressing enter, your password, then enter again ---- this will log you in ---- right click the background and change monitor settings

flashing ubuntu onto DAC ---- DAC has hdmi port inside the USV and usb ports on the outside. ---- after flashing the DAC thinks there is another monitor which makes this a struggle, but there are work arounds ---- after flashing there is a blank screen. press shift-tab enter to bring ubuntu installer onto your monitor. follow the prompts

Center Camera

Changing camera (raspberry pi) ip ---- ssh pi@(camera ip) (default 192.168.0.20) ---- Password: searobot ---- sudo nano /etc/dhcpcd.conf ---- Change ip’s

wiznet

Changing wiznet ip ---- Download wiznet configuration tool https://github.com/Wiznet/WIZnet-S2E-Tool-GUI/releases/download/V1.5.0/wizconfig-V1.5.0.exe ---- click device search ---- Click on the mac address of the robot ---- Change ip’s