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Ansible System Configurations

In this directory, we include a set of Ansible configurations for creating a development environment and setting up the real rover systems.

To use one of these Ansible playbooks on Ubuntu 16.04, make sure Ansible is installed:

$ sudo apt install ansible

Then run the playbook of your choice.

$ ansible-playbook -K -i "localhost," -c local <playbook>.yml

If you need to define extra variables add --extra-vars "" example

$ ansible-playbook -K -i "localhost," -c local <playbook>.yml --extra-vars "num = 2"

Development Box

The Ansible machine configuration is in devbox.yml. It may be used to set up a development environment on any Ubuntu system.

Vagrant Box

The Vagrant setup configuration is in vagrant_devbox.yml. It should not be used outside the Vagrant box.

Production MRover systems

The configuration in jetson.yml may be used to set up the main on-board computer on an actual rover. This script makes several assumptions about the system architecture and is not guaranteed to work outside of the Jetson TX-series SoC boards.

jetson.yml executes roles that configure systemd services, udev rules, and environment files for the jetson components. It is intended that running this playbook will configure the Jetson TX-series board we are using such that all necessary processes will run on startup.

System Components

USB Dev Rules

Our system's custom usb dev rules are located in roles/jetson_service/files/99-usb-serial.rules.
To add a new one plug in your usb device and type:
sudo lsusb -v | grep 'idVendor\|idProduct\|iProduct\|iSerial'
Find your device and it's idVendor, idProudct, iProduct and iSerial numbers/tags (it is ok if your device doesn't have all that information). Go into the 99-usb-serial.rules file and add a new line in this format:
SUBSYSTEM=="< your subsystem, normally tty for sub >", ATTRS{idVendor}=="< idVendor >", ATTRS{idProduct}=="< idProduct >", ATTRS{iProduct}=="< iProduct >", ATTRS{serial}=="< serial >", SYMLINK+="< name >"
The name can be anything. Save the file and re-run this ansible script. If you don't want to re-run it you can edit the /etc/udev/rules.d/99-usb-serial.rules files directly on the jetson but ideally it should be done this way.
Save the file and reboot, you now should be able to access your serial device as /dev/< name >
Here are some useful links:
First part was useful
Further explanation
Also helpful \