Booster K1 3V3 Demo Deployment Guideline
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Booster K1 3V3 Demo Deployment Guideline
Booster K1 3V3 Demo Deployment Guideline
用户1489用户1489
用户4226用户42262月19日修改
中文版本加速进化 K1 3V3 Demo 操作指引
0. Attention Please
⁉️ Attention:
💡Each team needs to independently adjust the corresponding configuration parameters according to the venue conditions and robot role. The demo may have positioning deviations to ensure the best competition state!
💡The motion package requires a version that supports gait odometers.
💡Upon first starting the machine, camera time synchronisation is required.
💡Connecting to the machine may fail; please execute the command prompted by the terminal.
💡 When starting Booster_K1_3v3_Demo and running various installation package commands, disconnect the Ethernet cable and use a wireless network to connect to the robot for operation！！！！！！
💡 Before the match beginning, you must customise the Player ID and player roles within src/brain/config/config.yaml.
1.
Start the robot
1.
Ensure the robot is on the safety rack. After powering on, using a network cable to connect the computer and the robot through the wired network port.
◦
For robot startup and how to connect by computer, please refer to K1 Instruction Manual - V1.5
2.
Connect the robot to Wi-Fi (if already connected, this step can be skipped)
Code Block
# Connect the robot
ssh booster@192.168.10.102
sudo nmtui
ifconfig
# Assume that the wireless IP obtained is 192.168.0.12
# Then you can use the wireless network to connect to the robot
3.
Confirm whether the robot's wireless network is normal
Code Block
#Use wireless IP to log in to the robot (IP needs to be changed to the actual value)
ssh booster@192.168.0.12
4.
Now you can unplug the network cable connected to the robot, then use the wireless network to connect the robot to the host
2、Download 【Booster_K1_3v3_Demo.zip】 (3v3 demo) on the local PC
Booster_K1_3v3_Demo.zip
247.87MB
1.
Download [Booster_K1_3v3_Demo.zip] to the local PC;
2.
Open the local PC Terminal, and upload [Booster_K1_3v3_Demo.zip] to booster@192.168.10.102:~/Workspace/ folder via scp;
3.
Execute unzip Booster_K1_3v3_Demo.zip to unzip the zip file;
4.
By checking with 【ls】, there will be a folder named 【Booster_K1_3v3_Demo】, indicating that the upload and decompression were successful.
3、 Install the SDK on K1 booster OS
代码块
# Log in to the robot (use wired or wireless, modify the correct IP)
ssh booster@192.168.0.12
cd ~/Workspace
# Pull SDK
git clone https://gitee.com/booster_robotics/sdk_release.git
#Compile
cd skd_release
ls # View all files, find install.sh and execute the following command
sudo ./install.sh
4、Start Robocup
1.
Follow the instructions below to open a new Terminal on your local PC, compile, and start robocup.
代码块
# Log in to the robot (if using wireless, you need to replace it with the actual wireless IP of your robot)
ssh booster@192.168.10.2
cd ~/Workspace/Booster_K1_3v3_Demo/
# Navigate to the scripts folder and grant file permissions.
cd scripts/
chmod +x *
# Delete build and install first
sudo rm -r /build /install # If not, you can compile directly
# Compile robocup related modules
./build.sh
# Synchronise camera time
tar -zxvf chrony_patch.tar.gz
cd chrony_patch
sudo ./update
#Restart the robot after completed
# Run robocup
cd ~/Workspace/Booster_K1_3v3_Demo/
./scripts/start.sh
# At this time, brain_node, vision_node and game_controller_node will be started in the background
# You can view the program running status through brain.log, vision.log, game_controller.log
#./scripts/stop.sh # If you need to stop the program, you can execute ./scripts/stop.sh