MattBot Setup Guide | Matthew Sato

Prerequisites

Before beginning the setup process, ensure your robot construction is complete. You'll need:

Fully assembled robot with all components connected
Computer with SD card reader for NVIDIA Jetson setup
Stable internet connection for downloading software
SSH client
Basic familiarity with command line operations

Setting up the NVIDIA Jetson

Follow these steps to set up your NVIDIA Jetson: https://github.com/satomm1/Robot/tree/main/Jetson.

Setting Up User GUI/Communication

The setup of the User GUI/communications platform is located at: https://github.com/satomm1/dds_robot_platform/tree/main.

Common Problems

Firewall: Ensure that your firewall is not blocking the IP addresses of the mobile robots. You may need to add a rule to specifically allow inbound and outbound traffic to the robot IP addresses

Initial System Test

Test mobile robot movement via telecommunication

1

Start the docker container

                jetson-containers run -v ~/workspaces/catkin_ws:/workspace/catkin_ws -v ~/gemini_api:/gemini_code -v /dev/bus/usb:/dev/bus/usb -v /dev/video0:/dev/video0 -v /dev/video1:/dev/video1 -i --device=/dev/ttyUSB0 --device=/dev/spidev0.0 --rm --privileged --name ros_noetic $(autotag ml_ros:latest)
                

Start another terminal and enter the docker environment:

docker exec -it ros_noetic bash

2

Run Minimal Bringup Launch File in Terminal 1

ros launch mattbot_bringup minimal.launch

Run Teleoperation Launch File in Terminal 2

ros launch mattbot_teleop keyboard.launch

If the mobile robot is moving, setup is complete!

Setup Complete! Your MattBot is now ready for operation. Proceed to the Operation Guide to learn how to control and operate your robot.

Operation Guide →