Software Setup and Sensor Configuration

Computer

The data collection computer uses a linux installation; we use ubuntu 22.04, though other versions should work as well.

1. Install linux.

   Info

   If using a usb C monitor / dock to debug (e.g. the NexDock), you may need to install DisplayLink drivers in order to allow hot-plugging the dock.

   • Internet access is required during setup.
   • Other helpful packages:

     sudo apt install -y htop openssh-server git
     sudo snap install zellij --classic
     

   • Make sure that all ethernet interfaces are enabled (3 in total), and that the lidar interface is set to "link-local only".

2. Install uv:

   curl -LsSf https://astral.sh/uv/install.sh | sh
   # or
   wget -qO- https://astral.sh/uv/install.sh | sh
   

3. Install red-rover:

   git clone git@github.com:RadarML/red-rover.git
   cd red-rover/collect
   uv sync
   

Sensors

Radar: Follow the setup instructions described in the XWR documentation.

Camera: Plug a HDMI cable into a monitor in order to change the settings. Select the following using the buttons on the front:

• Focus: set to "optimum focus" - move the focus lever into the detent at the bottom.
• Gain: 18db (for typical indoors lighting; change based on lighting conditions).

• SDI output: 1080p60

  Note

  The HDMI menu overlay is not shown on the SDI output.

IMU: Install MT Manager, and connect the Xsens MTi-3 IMU via the development board. Select the following:

• Orientation: Euler Angles; Floating Point 32-bit; 100Hz
• Inertial data: Rate of Turn, Acceleration; Floating Point 32-bit; 100Hz

Lidar: Should work out-of-the-box.

Warning

Make sure that an IP is assigned to the lidar in the web management page.