Manual Operation¶

Info

These steps may be useful for debugging and/or troubleshooting.

Makefile + Zellij¶

Set configuration file.
```
ROVER_CFG=`realpath config/dart.yaml`
```
Configure interfaces.
```
sudo -E make config
```
Info

We must use -E in order to pass through environment variables (i.e. ROVER_CFG). You can also use sudo ROVER_CFG=path/to/cfg.yaml make config.
Start data collection processes.
```
make
```
Warning

This requires/uses zellij:
```
sudo snap install zellij --classic
```
Run data collection
```
make start
make stop
```
Clean up and kill data collection processes by quitting zellij (ctrl + q).

Fully Manual¶

Configure interfaces:

Set the radar interface to a static IP:

sudo ifconfig [radar/interface] 192.168.33.30 netmask 255.255.255.0

Set the socket receive buffer size:

echo [radar/args/capture/socket_buffer] | sudo tee /proc/sys/net/core/rmem_max

Set Lidar interface to link-local:

sudo ip addr add 169.254.11.103/16 dev [lidar/interface]

Set IMU, radar serial port permissions:

sudo chmod 666 /dev/ttyACM0
sudo chmod 666 /dev/ttyUSB0

Launch data collection processes (in the background, in separate terminals, in screen, etc.):

screen -dm bash -c "./env/bin/python cli.py run --config [config.yaml] --sensor radar"
screen -dm bash -c "./env/bin/python cli.py run --config [config.yaml] --sensor camera"
screen -dm bash -c "./env/bin/python cli.py run --config [config.yaml] --sensor lidar"
screen -dm bash -c "./env/bin/python cli.py run --config [config.yaml] --sensor imu"

Run data collection

./env/bin/python cli.py start -c [config.yaml] -p [output/path]
./env/bin/python cli.py stop

Terminate each data collection process

./env/bin/python cli.py exit -c [config.yaml]