Différences

Ci-dessous, les différences entre deux révisions de la page.

--- fauteuil_handicape [2019/04/03 01:56]
colin
+++ fauteuil_handicape [2019/04/19 20:55] (Version actuelle)
colin
@@ Ligne 1: / Ligne 1: @@
-====== FAUTEUIL HANDICAPE ======
+====== DISABLED CHAIR ======
-===== RESEAU =====
+===== EQUIPMENT =====
-==== Ouverture port ====
+{{:schema_technique_fauteuil_handicape.png?nolink&600|}}
+===== NETWORK=====
+==== TEAMVIEWER ====
+225 655 275
+==== Port opening ====
-Internet : 443 80
+Internet UDP TCP : 443 80
-Teamviewer : 5938 443 80
+Teamviewer UDP TCP : 5938 443 80
+Packet magic port 9 UDP
 [[https://community.teamviewer.com/t5/Knowledge-Base/Which-ports-are-used-by-TeamViewer/ta-p/4139|Teamviewer]]
 Didier :
 :d7:05:c2:a0:bb
 :5b:35:cf:02:84
 -00-00-00-00-00-00-00-00-00-00-00-00-00-00-00
 Colin :
-enp3s0f1 : d0:17:c2:12:4b:d4
+    enp3s0f1 : d0:17:c2:12:4b:d4
-wlp2s0 : 48:45:20:41:89:80
+    wlp2s0 : 48:45:20:41:89:80
 -00-00-00-00-00-00-00-00-00-00-00-00-00-00-00
+PC oversight :
+    enp5s0f1 : f8:32:e4:2e:98:40 192.168.1.80
-PC supervision :
-enp5s0f1 : f8:32:e4:2e:98:40
 wlp4s0 : 94:65:9c:d1:2b:85
 -00-00-00-00-00-00-00-00-00-00-00-00-00-00-00
+Router Netgear AC1750 :
+SSID :
+    DisabledChair1
+    DisabledChair2
-TX2 :
+LAN :
-eth0 : 00:04:4b:c5:7b:bf
+    MAC Address 78:D2:94:1A:53:ED
-wlan0 : 00:04:4b:c5:7b:bd
+    IP Address 	192.168.1.1
--00-00-00-00-00-00-00-00-00-00-00-00-00-00-00
+WAN :
+    MAC Address 78:D2:94:1A:53:EE
+NVIDIA TX2 (robot) :
+    eth0 : 00:04:4b:c5:7b:bf 192.168.0.10
+    wlan0 : 00:04:4b:c5:7b:bd  192.168.1.81
+-00-00-00-00-00-00-00-00-00-00-00-00-00-00-00
 ==== Configuration tinc ====
@@ Ligne 34: / Ligne 53: @@
 [[tinc|TINC]]
-Acces Tinc :
+Access Tinc :
 ssh nvidia@10.1.0.4
 ssh robot@10.1.0.3
 ===== POZYX =====
@@ Ligne 47: / Ligne 65: @@
 The following rules apply to the anchors from both the Creator and Enterprise series.
  Place the anchors high and in line-of-sight of the user.
@@ Ligne 58: / Ligne 75: @@
 Rule 1: Place the anchors high and in line-of-sight of the user.
 The first rule is straightforward: placing the anchor high (on the ceiling or on the walls) increases the chance of receiving a good signal because there are less obstructions. Obstructions generally have a negative influence on the accuracy of the range measurements which has a direct effect on the positioning accuracy.
 Rule number 2: Spread the anchors around the user. Never on a straight line!
 For range-based systems, a single range measurements will only give information in a single direction. This direction is exactly the direction from the user to the anchor. Because of this, it is best to spread the anchors such that they cover all directions. If the anchors are all on a straight line, the positioning error will be very large. This can be seen on the image below. You can see that a small change in radius (for example due to noise), will result in a very large change in the position of the intersection(s). In other words, the error on the range measurements is amplified! This is the same principle as in GPS, where it is called the geometric dilution of precision (GDOP).
 === Pozyx anchor ===
@@ Ligne 73: / Ligne 88: @@
 Rule number 4: Keep the anchors away from metal
 When you place an anchor directly on a metal plate, the metal will affect the antenna behavior. It is advised to keep a distance of 20cm clear from the antenna with metal. The antenna itself is a metal conductor that is carefully designed to radiate on the UWB frequencies. Any metal nearby will reduce the antenna's efficiency or will make the antenna less omni-directional and less predictable. This rule is in fact true for every wireless system.
 Rule number 5: For 3D positioning: place the anchors at different heights.
 If the user and the anchors are all in the same horizontal plane, it is not possible to have a very good accuracy for the height (it is the same principle of GDOP
 ==== Configuration ====
@@ Ligne 89: / Ligne 102: @@
 {{:pozyx_ensadlab_rotonde_norviz.png?600|}}
-Modifier les paramètres x, y, z en mm dans le même repère :
+Change the x, y, z parameters in mm in the same frame: :
 {{:rotonde_pozyx.png|}}
-Astuce poser au sol le laser perpendiculaire avec niveau en pointant les ancrages.
+Tip lay down the perpendicular laser with level by pointing the anchors.
 $ cp launch/pozyx_ensadlab_rotonde_norviz.launch launch/pozyx_ensadlab_default.launch
-Ecraser si besoin
+Overwrite if necessary
-===== SERVICE FAUTEUIL =====
+===== ARMCHAIR SERVICE =====
 $ sudo nano /lib/systemd/system/fauteuil.service
 [Unit]
@@ Ligne 124: / Ligne 136: @@
 [Install]
 WantedBy=multi-user.target
 [[https://www.freedesktop.org/software/systemd/man/systemd.timer.html|Section timer]]
-Verifier dans le journal fauteuil :
+Reload fauteuil.service :
+$ sudo systemctl daemon-reload
+Status :
+$ sudo systemctl status fauteuil.service
+Check in the journal :
 $ journalctl -u fauteuil
@@ Ligne 142: / Ligne 159: @@
 Disable service fauteuil :
 $ sudo systemctl disable fauteuil.service
+===== SERIAL =====
+$ udevadm info -a -n device_name
+udev file :
+SUBSYSTEM=="usb", ACTION=="add", ATTR{idVendor}=="0483", ATTR{idProduct}=="5740", GROUP="plugdev" MODE="0666"
+$ sudo cp debian/udev /etc/udev/rules.d/pozyx.rules
+$ sudo udevadm control --reload-rules
+==== LOG ====
+$ cd /home/nvidia/.ros/log/
+$ sudo nano $ROS_ROOT/config/rosconsole.config
+#
+#   rosconsole will find this file by default at $ROS_ROOT/config/rosconsole.config
+#
+#   You can define your own by e.g. copying this file and setting
+#   ROSCONSOLE_CONFIG_FILE (in your environment) to point to the new file
+#
+log4j.logger.ros=INFO
+log4j.logger.ros.roscpp.superdebug=INFO
+[[http://wiki.ros.org/roslaunch/XML/node#Attributes]]

Colin Bouvry - [DokuWiki]

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