Setting up B3RB with CogniPilot environment software
The definitive guide is the CogniPilot website, these sub-pages are only for additional details and guidance.
Follow this section of CogniPilot to prepare Cognipilot-Cerebri on MR-CANHUBK344: https://airy.cognipilot.org/reference_systems/b3rb/setup/
https://airy.cognipilot.org/reference_systems/b3rb/about/
NEW: https://brave.cognipilot.org/reference_systems/b3rb/setup/
NEW: https://brave.cognipilot.org/reference_systems/b3rb/about/
This will:
Update MR-CANHUBK344 with the Zephyr+Cognipilot-Cerebri image. (Cerebri is the application, Zephyr is the RTOS. They are flashed simultaneously using a prepared image.)
You need to follow this guide to correctly flash Cerebri onto the board: Connect J-Link EDU Mini to MR-CANHUBK344 with DCD-LZ adapt board
The following steps must be performed after you have prepared your Linux Development PC.
ros2 launch b3rb_bringup robot.launch.py
At ths point you are ready to use the MR-B3RB.
You can log into the NavQPlus and even into the MR-CANHUBK344 running CogniPilot/Zephyr
You can run ROS SIL or "real hardware" examples using RVIZ or Foxglove as a control station.
The vehicle is capable of being safely armed through several steps and autonomously navigating to a position and pose as specified/pointed to on the control station software.
When booted, MR-CANHUBK344 should display the following CogniPilot logo and welcome screen on the console.
Errata: If this image doesn't come up when you boot up the board, restart the board several times (by turning it off and on) till this image shows and you can be sure that the board MR-CANHUBK344 is awake and active. Note this issue has been addressed in Zephyr code and should no longer present itself. Please ensure you have the latest version of CANHUBK344 code.
Within a few seconds, the red light on the T1-Ethernet port on both the boards should light up.
The developer guide for CogniPilot can be found here: https://cognipilot.org/releases/airy/getting_started/install
NEW https://brave.cognipilot.org/reference_systems/b3rb/setup/
This guide provides instructions for connecting the J-Link EDU Mini to the MR-CANHUBK344 with the objective of flashing the Cognipilot software onto the board.
Make sure you have the following DCD-LZ adapt board
First take the J-Link EDU Mini, you can find more information here: #j-link-edu-mini-debugger
Then, get the J-Link EDU Mini. Then, use the cable with a micro USB connector on one end and a USB Type-A connector on the other end.
Then take the 10-Pin 2x5 Socket-Socket IDC (SWD) Ribbon Cable and connect it to the J-Link EDU mini:
Please, connect the 10-Pin 2x5 Socket-Socket IDC (SWD) Ribbon cable in the following position to the J-Link EDU Mini:
Next, please pick up the DCD-LZ adapt board:
Next, connect one end of the 10-pin 2x5 Socket-Socket IDC (SWD) ribbon cable to the connector on the DCD-LZ adapt board. Ensure that the orientation of the connector corresponds to the one shown in the following image:
The pick the 7 position JST-GH connector:
Finally, connect one end to the DCD-LZ adapt board and the other end of the 7 position JST-GH connector to the MR-CANHUBK344. Please, connect it into the pin showed in the following image:
Now, you just need to connect the USB cable to your development computer and also remember to connect the LiPo battery to the PDB to flash the MR-CANHUBK344, as the board needs to be connected to the power. Then, you can return here to follow the instructions: #prepare-mr-canhubk344-real-time-vehicle-controller
This guide provides instructions for connecting the J-Link EDU Mini to the MR-CANHUBK344 with the objective of flashing the Cognipilot software onto the board
First take the J-Link EDU Mini, you can find more information here: #j-link-edu-mini-debugger
Then, get the J-Link EDU Mini. Then, use the cable with a micro USB connector on one end and a USB Type-A connector on the other end.
Then take the 10-Pin 2x5 Socket-Socket IDC (SWD) Ribbon Cable and connect it to the J-Link EDU mini:
Please, connect the 10-Pin 2x5 Socket-Socket IDC (SWD) Ribbon cable in the following position to the J-Link EDU Mini:
Next, please pick up the Cognipilot debug adapter:
Next, connect one end of the 10-pin 2x5 Socket-Socket IDC (SWD) ribbon cable to the connector on the Cognipilot debugger. Ensure that the orientation of the connector corresponds to the one shown in the following image:
Finally, connect the other end of the 7 position JST-GH connector to the MR-CANHUBK344. Please, connect it into the pin showed in the following image:
Now, you just need to connectConnect the USB cable to your development computer and also remember to connect power to the Buggy (the LiPo battery to the PDB) in order to flash the MR-CANHUBK344, as the board needs to be connected to the power. Then, you can return here to follow the instructions: . #prepare-mr-canhubk344-real-time-vehicle-controller
Connect the MR-Link-MR to the 7 position JST-GH programing connector to the MR-CANHUBK344. Please, connect it as shown in the following image:
Now, you just need to connect the USB cable to your development computer and also remember to connect the LiPo battery to the PDB to flash the MR-CANHUBK344, as the board needs to be connected to the power. Then, you can return here to follow the instructions: #prepare-mr-canhubk344-real-time-vehicle-controller
This guide provides instructions for connecting the MCU-Link-MR to the MR-CANHUBK344 with the objective of flashing the Cognipilot software or any other Zephyr based onto the board.
Either the J-LINK or MCU-Link may be used to program the MR-CANHUBK344
DRAFT-DRAFT-DRAFT Connect the MR-Link-MR to the 7 position JST-GH programing connector to the MR-CANHUBK344. Please, connect it as shown in the following image: <todo> update image to show MR-Link-MR <todo> alternatively connect the 10 pin JTAG/SWD ribbon cable connector <todo update photos below
Connect the USB cable to your development computer and also remember to connect power to the Buggy (the LiPo battery to the PDB) in order to flash the MR-CANHUBK344.
Use this command when programming using the MCU-Link or MCU-Link-MR from Zephyr west tool
The MCU-LINK-MR is an updated version of the MCU-link which includes debug interfaces for robotics including DCD, DCD-LZ, Pixhawk debug large and small, and USB-C to UART console. PyOCD method has to be used when using a MCU-Link or MCU-Link-MR
west flash --runner pyocd
More detailed official documentation for this is available here. See for default runner to use can be sethttps://docs.zephyrproject.org/latest/develop/west/build-flash-debug.html#choosing-a-runner Then, you can return here to follow the instructions: #prepare-mr-canhubk344-real-time-vehicle-controller
