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4. Positioning Sensor Setup

[ Electrical Division : Positional Sensor Networking ]

Created by [ Rowan Dempster] on Dec 27, 2019

TODO: clean up this writing - Henry

Good news! There seems to be no networking setup necessary for the Positional sensors (i.e. we've never had to do anything, you just plug them in and can move onto the driver step).

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Current issues with running novatel_start:

• main issue is that after running novatel_start command, connection refused error: Couldn't connect to data port at 169.254.0.14:3001: [Errno 111] connection refused

Updates as of March 20, 2019
GPS is connected to enp4s0f1 switch but appears undetected when using arp-scan.

HWaddress and port address cannot be determined on network switch when GPS is connected. Only shows "Host is Up" for the scan for address 169.254.0.14 even when GPS is not connected.

Will need to see if we can determine the exact interface the GPS uses.

GPS IP address: 169.254.0.14

Updates as of March 27, 2019
Network switch model is Netgear GS316. Layer 2, unmanaged switch.

• the swtich communicates connected devices via their MAC addresses

Ubuntu terminal command: sudo arp-scan --interface=enp4s0f1 -l is used to identify connected devices on the network interface enp4s0f1.

• enp4s0f1 is network interface name for "LIDAR Network"

Updates as of March 31, 2019
Novatel web UI (novatel.com) can be accessed via firefox while rugged is connected to PwrPak7 wifi.

• chrome https proxy blocks access to novatel.com, so don't use chorme.

New Novatel configuration is set:
Hardware:

• Ethernet cable from PwrPak7 enclosure is connected to port5 on the network switch.

Wifi:

• Rugged connected to PwrPak7 wifi, novatel_start runs on 192.168.19.1:3001

Ethernet (network switch):

• Configure on Novatel Web UI terminal:

1. ethconfig etha auto auto auto auto
2. icomconfig icom1 tcp :3001
3. ipconfig etha static 169.254.0.16 255.255.255.0 0.0.0.0

• On Ubuntu terminal: novatel_start with ip := <169.254.0.16>

Confirmed both wifi and ethernet run with rostopic list and rostopic hz /navstat/odom

Edited on ~/.watoalias to run novatel_start with static ip 169.254.0.16 ([\@Harshil.Parikh]{.phui-tag-core .phui-tag-color-person style=”color: inherit;”})

**Important Note
Entering static IP address for novatel on the existing Network (e.g. LIDAR Network) will induce the "connection refused error" (which was the original issue on running novatel_start). This was tested with an attempt to register 169.254.0.15 on LIDAR Network and it induced the same "connection refused" error. Hence, 169.254.0.16 is now configured for Novatel driver, which will not show up on LIDAR Network. (so do NOT register IPs on networks!)

Comments:

+———————————————————————–+ | [] | | | | Everything written on this page (which was ported from Phab) is | | garbage. There is a quite a bit of documentation to write, or port | | over from the user guide/datasheets. | | | | {.smallfont align=”left” style=”color: #666666; width: 98%; margi | | n-bottom: 10px;”} | | | | Posted by henry.wang at Feb 26, 2020 06:28 | | | +———————————————————————–+ | [] | | | | Mark for deletion. | | | | {.smallfont align=”left” style=”color: #666666; width: 98%; margi | | n-bottom: 10px;”} | | | | Posted by henry.wang at Mar 05, 2020 08:25 | | | +———————————————————————–+

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