Minimal instructions for deploying on to several kayaks at the sailing pavilion, including setup and tear-down.
To start the default mission use the following commands (substituting the correct vehicle name):
terra$ ssh nostromo nostromo$ cd hovergroup-extend/missions/trunk/baseline_pShare nostromo$ ./launch_vehicle.sh --nostromo |
In a new terminal window:
terra$ cd hovergroup/ivp-extend/missions/trunk/baseline_pShare terra$ ./launch_shore.sh |
At this point pMarineViewer should launch and the kayak should appear. Open a browser window and go to localhost:8080 to view a vehicle status report. With the e-stop depressed you can also check that you are able to send waypoints to the vehicle by pressing deploy and right clicking in pMarineViewer.
Make sure the vehicles are all-stopped and the e-stop is depressed before launching. Launching is a two-person operation. Park the cart a parallel to the edge of the dock and lower the side wall. Place the modem on the dock before lifting the kayak into the water. Be careful not to bang the thruster or skeg. Lower the modem into the water once the vehicle is in. Finally, twist the e-stop to release and drive the vehicle away from the dock using the remote. Press the deploy button in pMarineViewer to activate all vehicles. Note that the RC will take precedence if it is turned on.
Most important parameters are displayed in the web viewer. You should return the vehicles if their battery voltage drops to 11.8 volts. At 11.2 volts, maximum thrust will be limited to 20%. At 10.6 volts, which comes very soon after 11.2 volts, thrust is cut completely.
Take the vehicles out of the water just as they were launched. Always all-stop the vehicle and engage the e-stop before recovery.
If the terminal window you used to start the vehicle software is still open, you can use the "2" option to stop it. Otherwise, use the command "killall pAnter". Check that all apps have closed using the "ps -a" or "ps aux" commands and kill apps individually as needed.
Once the software is stopped use the following commands on the shoreside to fetch the log files.
Both commands can be rerun multiple times as needed without issue.