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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.