The kayak has two computers installed in the computer box:
The top computer runs windows xp:
ip address: 192.168.1.102
computer name: laPetiteOrange
username: James
password: orange
The bottom computer runs ubuntu:
ip address: 192.168.1.101
username: ruser
password: moos-ivp
Both computers have static ip addresses and automatically log on to the SMART-ROUTER network hosted by one of the linksys routers in the lab. To connect to the computers, first connect the netbook to the SMART-ROUTER network. Once it is connected, open Putty to ssh to the ubuntu kayak computer and remote desktop to operate the windows xp computer.
Pressure data is collected with labview on the windows machine.
All other sensor data is collected with the ubuntu machine. First, run:
pAntler kayak2.moos
A bunch of messages should be output to the terminal. This necessary process runs in the background. Open up another ssh terminal with Putty. In this second terminal, run:
zLoggerNG
This starts logging data from all of the sensors (except pressure) and stores them in a single binary file in the current directory named with the starting timestamp.zlog. To stop recording data, type
control-c
to end the zlogger process. Running zLoggerNG again will start a new log file. If the pAntler process is not running in the background, no data will be logged with the zLoggerNG app.
The kayak2.moos file includes the processes that are executed when the pAntler kayak2.moos command is run. As of July 2011, this file includes commands to collect data in the background from GPS, compass, DVL, and imu.
The zlogtool application is used to convert the binary zlog files stored by the zLoggerNG command into ascii data. Running ./zlogtool -h will bring up a description of how to use the application and what options are available. By default, the output is printed to the terminal. To store the data in a text file, add >> fileName.txt at the end of the command.
The storeSensorData application was written to conveniently store data from all zlog files in a directory called "zlogFiles" so that you don't have to manually run zlogtool. This creates text files with data from compass and gps, dvl, and imu.