Warthog

Add any interesting information about the Warthog that could help other students

Official Warthog documentation from Clearpath

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Network

Diagram's draw.io file is located here.

Computer

High-level

The high-level computer is a Neousys NUVO-9006DE-POE (Link)(User Guide). To access the bios, press F2 when the computer is booting. Four ethernet ports on the USB ports side support PoE. Per-point PoE can be deactivated in bios.

• Ethernet port connected to the router: enp1s0f1 IP address: 192.168.0.3 (Lowest port on the COM ports side)
• Ethernet port connected to the lidar: enp6s0 IP address: 192.168.1.102
• Ethernet port connected to the radar: enp1s0f0 IP address: 192.168.4.10 (2nd highest port on the COM ports side)
• Ethernet port connected to the ls128s1: enp5s0 IP address: 192.168.1.103
• Ethernet port connected to the rear (Basler) camera: enp7s0 IP address: 192.168.7.2 (3rd highest port on the USB ports side) with deactivated PoE. Cable speed (tested) 1 Gb/s.

The computer has hardware support for PTP.

The 2TB SSD model is Innodisk DEM28-02TDD1EWAQF-W56. Write and read speed are 1850 and 2000 MB/s, respectively.

The old computer model was AIV-Q170V1FLS-OBD (Link)(User Guide)

Low-level

User Manual

Jetson

• There is a Jetson Orin AGX inside the Warthog, its IP address is 192.168.0.5.
• For now, it is used for the ROS1 Bridge and the ZED X stereo camera.
• The installation was made following these setup scripts.
• The GPIO pinout can be found here. There a confusion in the I2C bus naming convention. SCK/SCL pin corresponds to I2C5_CLK and the SDI/SDA to I2C5_DAT.

Router

The router's model is RouterBOARD 962UiGS-5HacT2HnT, equipped with 5 1 Gb/s ports. Specifications

Batteries

A wiki page is dedicated to the Warthog batteries.

Cameras

There are two cameras installed on the Warthog.

• The front one is a ZED X Stereo camera, which is oriented 15 degrees downward and connected via a GMSL2 link to the Jetson Orin AGX.

• The rear one is a Basler A2a1920-51gcpro with a Theia Technologies MY125M lens, also angled 15 degrees downward and connected through an ethernet cable to the high-level computer. Jumbo packets should be enabled to increase the FPS capabilities.

Note: The old camera, still available, was a Dalsa Genie Nanon C1920 (Link)

Mechanical Details

Warthog's CAD is available in OnShape.

• Baseline (on tracks) : 1.1652 m
• Wheel radius (on tracks) : 0.3 m

Warthog's speed (from controller)

To modify the speed sends by the controller, follow these steps:

• Connect to the low-level computer with SSH and go in this config folder

roscd warthog_teleop_twist_joy/config

• Enter the file

vim hri.config.yaml

• To change the linear speed, comment the line with the scale_linear value and create your own scale_linear value. The speed value is calculated like this:

We know from experiements that a value of 0.0015 is approximately 1.5 m/s with the wheels.
We need to apply a speed factor related to type of wheels mount on the Warthog.
For the wheels, the factor is F = 1. For the tracks, the factor is F = 0.6632.
So, if by example you want a speed of v = 0.25 m/s with the tracks, you will do the following:

speed_value = [(v/1.5) x 0.0015] / F
speed_value = [(0.25/1.5) x 0.0015] / 0.6332
speed_value = 0.000395 m/s

• When the speed is changed, save the file. You now need to kill the node and restart it to apply the changes. There are two methods:

1. Manually kill and restart the node from the terminal.

• First, kill the node

rosnode kill /hri_teleop_twist_joy

• Then, in a screen, restart it

roslaunch warthog_teleop_twist_joy teleop.launch

2. Just reboot the whole computer by powering off the Warthog and reboot it.

Teach and Repeat

A tutorial on how to perform a basic teach-and-repeat session with the Warthog can be found here.

Motors and Encoders specs

Motor Reference

Param	Value
Name	ME1117
Company	Motenergy
Type	BLDC
I_continuous	120 A
N° poles	8 poles / 4 pairs
$R_{p-p}$	$0.013\ \Omega$
$R_{phase}$	$0.0048\ \Omega$
$L_{phase}$(100 Hz)	0.088 mH
$L_{p-p}$	0.10 mH
$\omega_{max}$	5000 RPM
V	0-72 VDC
Torque constant	0.13 Nm/A
Armature inertia	52 $kg*cm^{2}$
I_{continuous}	80 A AC
I_{peak}	220 A AC (1 min)
Weight	23 lbs
Peak stall torque	38 Nm

Dynoplot

Encoders

List of topics published on the Warthog

Note : This list of topics may vary depending on when the data was/is taken

Data	Topic	Frequency (Hz)	Notes
Electrical
MCU global data	/mcu/status	1
Left drive	/left_drive/status/battery_{current,voltage}	1
Right drive	/right_drive/status/battery_{current,voltage}	1
Speeds
Control speed	/cmd_vel
Encoders speed
Left drive speed	/left_drive/status/speed	4
Right drive speed	/right_drive/status/speed	4
Odometry
ICP odometry	/icp_odom
IMU odometry	/imu_and_wheel_odom	100	no twist
GPS odometry	Postprocessed data from REACHRS	5
Warthog odometry	/warthog_velocity_controller_odom	20	no twist
Inertial
IMU data	/MTI_imu/data
Warthog IMU	/imu/data	35	noisy imu, upside down
GPS
GPS message	/gps/*

graph LR

    commanded([<strong>Commanded<br/>velocities</strong><pre>/vel_cmd</pre>])
    commanded --> cmdvel([<pre>/cmd_vel</pre>])
    commanded --> rcteleopcmd([<pre>/rc_teleop/cmd_vel</pre>])
    commanded --> warthogcmd([<pre>/warthog_velocity_controller/cmd_vel</pre>])

    odometry([<strong>Odometry</strong></br><pre>/odom</pre>])
    odometry --> icpodom([<pre>/icp_odom</pre>])
    odometry --> imuodom([<pre>/imu_and_wheel_odom</pre>])

    imu([<strong>IMU</strong></br><pre>/imu_data</pre>])
    imu --> imudata([<pre>/MTI_imu/data</pre>])

    wheels([<strong>Wheel</br>velocities</strong></br><pre>/wL, /wR, /velL, /velR</pre>])
    wheels --> wL([Angular speed ω - L<pre>/left_drive/status/speed</pre>])
    wheels --> wR([Angular speed ω - R<pre>/right_drive/status/speed</pre>])
    wheels --> vL([Speed - L<pre>/left_drive/velocity</pre>])
    wheels --> vR([Speed - R<pre>/right_drive/velocity</pre>])

    elecmot([<strong>Motor</br>electrical</strong></br><pre>/voltL, /voltR, /IL, /IR</pre>])
    elecmot --> voltL([Voltage - L<pre>/left_drive/status/battery_voltage</pre>])
    elecmot --> voltR([Voltage - R<pre>/right_drive/status/battery_voltage</pre>])
    elecmot --> ampL([Current - L<pre>/left_drive/status/battery_current</pre>])
    elecmot --> ampR([Current - R<pre>/right_drive/status/battery_current</pre>])

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Issues/Repairs

• The screws attaching the external ethernet ports of the Pelican case have dried out o-rings which could enable water to get in (low risk).