This directory contains a script create_extension.sh that can be used to create an l4t-based Spot Extension for this example. This will create a file spot_detect_and_follow.spx, which can be uploaded to the CORE I/O. The extension requires that the payload be authorized on the robot admin console to run.
If building on a host system architecture that is not
ARM64 based run the following before continuing.
sudo apt-get install qemu binfmt-support qemu-user-static
Installing and running qemu will allow us to build ARM binaries on an x86 machine without needing a cross compiler, see Build Docker Images Documentation for more details.
This directory contains a script
create_extension.sh that can be used to build a
ARM64 docker image and package all the files into an Extension. From the
ros2_driver directory run the script
This will create the
spot_ros2_driver.spx extension file that you can upload to the CORE I/O or Scout platform. The script was tested on Ubuntu 22.04 with x86 architecture.
Before you install and run the
spot_ros2_driver.spx you need to configure the port range used by a connection in the CORE I/O to be within the allowable port range.
SSH into the CORE I/O from the robot’s WiFi
ssh -p 20022 [email protected]
Make a copy of the default port range (not currently working with our CORE io)
cat /proc/sys/net/ipv4/ip_local_port_range > /proc/sys/net/ipv4/ip_local_port_range.bak
Limit the ports a networking connection can use to those reachable through the CORE I/O's firewall
echo "21000 22000" | sudo tee /proc/sys/net/ipv4/ip_local_port_range
This will force all connections from the CORE I/O to be on the port range 21000 - 22000.