• connect to the robot wifi, the raspi will give you an IP & internet connection
• run deploy.sh to copy the source code to the robot and install the python modules
• the code is in /home/cvra/run/
• connect to the PC (mosh cvra@192.168.2.10) and run run.sh to run your code

(This only works in fish shell)

source setup_env.sh

For some tools (for example graphing) you need additional packages. In this case instead of the above command use:

source setup_dev_env.sh

To leave the virtual environment: deactivate

brew install pyqt --with-python3
virtualenv --python=python3 --system-site-packages env

First start the message bus:

python -m zmqmsgbus.tools.bus

Then start the node of the master-board:

python comm/bus_master_node.py

To forward the bus topics running on the robot to your laptop run:

python -m zmqmsgbus.tools.forwarder --to tcp://192.168.2.10:13370 --bind_from

and

python -m zmqmsgbus.tools.forwarder --from tcp://192.168.2.10:13371 --bind_to

You need to have an IP 192.168.3.0/24.

Send config:

python config/config_send.py config/config-left-wrist.yaml ipc://ipc/bus_master_server

Send setpoint:

python control/actuator-control-interface/send_setpoint_test.py -a left-wrist -p 192.168.3.20 3.14

First start the ZeroMQ nodes.

Example: plot the postition and velocity of the left-wrist actuator

python tools/message_graph.py position:left-wrist.0 position:left-wrist.1

The master-board is on 192.168.3.20.

If you want to run the software-stack on your PC you should have the IP 192.168.3.1 because the master-board uses this address as ntp time server. Also make sure your restrict config (found under /private/etc/ntp-restrict.conf on OS X) does not include noquery.

In case the embedded PC is connected, it distributes the IPs with DHCP. It also serves NTP.