Extension

Following the documentation here 

 Build The Extension 

 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 

 ./create_extension.sh 

 

 

 

 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. 

 Limit the ports used by a connection in the CORE I/O 

 SSH into the CORE I/O from the robot’s WiFi 

 ssh -p 20022 spot@192.168.80.3 

 

 

 

 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 

 The default configuration of the ip_local_port_range 

 32768 60999 

 

 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.