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Turning on the Robot and Running Rover Code
Touch the metal frame of the robot to ground yourself and prevent any static electricity from breaking the robot.
Connect the power cable to the robot. It has two wires, black and red with a yellow tip. This connects to a similar cable on the robot.
Flip the switch at the face of the power supply so that that vertical line (|) is pushed down. Once the power supply has powered on completely, tap the "Output" button so that the current voltage is displayed. The voltage should be greater than 24 Volts but less than 29 Volts, preferably 25 Volts.
Ground yourself again. On the left side of the robot, there is a black breaker with a small black lever protruding from the top of it. Push that down so that it is flush with the breaker. Power is now going to the robot and you should see some lights on the Jetson.
Ground yourself again. Push the red button on the Jetson closest to the Husky logo until some green lights come on then let go.
Attach the ethernet cable from the robot to your computer. Run ssh rover in a terminal. This may take a few attempts before it connects. Type nvidia for the password once it successfully connects.
In the SSH connection, run cd Resurgence and run ./enable_CAN_and_GPS to enable CAN and GPS. GPS errors are expected.
In the SSH connection, run cd build && make -j Rover to build the rover code. Then run ./Rover to start the rover code.
In a new terminal, run cd mission-control, then git status to check the current branch. Make sure you are in the main branch; if not, run git checkout main to change branches. If needed, run git pull to update the current code. Run npm run build && serve -s build to run the Mission Control code.
The after running the command, the console will display the URL to access the Mission Control. Open that link in the Chromium.