driver

Mobile Base Driver

Setup

The following steps should be run on the mobile base computer:

1. Download the driver code and reset to known working commit:

   git clone git@github.com:stanford-iprl-lab/Mobile_Manipulation_Dev.git --branch camera_traj_tracking
   git reset --hard 081a03f9f3efee7cd2ec67c7de5bca077a5b35de

2. Apply Jimmy's driver code patch:

   git apply driver.patch

3. Build the driver code:

   cd  ~/Mobile_Manipulation_Dev
   mkdir build
   cd build
   cmake .. && make

4. Copy motor offsets to the location expected by the driver:

   cp motor-offsets-$(hostname | rev | cut -c1).txt ~/Mobile_Manipulation_Dev/bin/.motor_cal.txt

   Note: motor-offsets-1.txt goes with mobile base #1, motor-offsets-2.txt with mobile base #2, etc.