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Prepare the CPM Lab
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- Start
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- the NUCs and switch with the white remote control by turning on the wall plug number 1.
- Start the router with the white remote control by using turning on the wallplug using the white remote control (position 2)wall plug number 2.
- Start the main PC Computation Hardware.
- Log in as
cpm-userstud
. - Build your desired version of the CPM Lab.
- Start the LCC.
Experiment
Simulated
Make sure that your HLC works in simulation
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. Simulate your desired vehicles, choose your desired script and follow this guide to start the experiment. All real vehicles need to be turned off for this, as they share the DDS interface with simulated vehicles.
Real
If you want to record a video of your experiment
- Toggle the "Record" switch switch in the Lab Camera section of the Setup Tab tab of the LCC.
- After you stop the experiment, you find the video in
/tmp/cpm_lab_recordings/
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- Turn the vehicles on and position them in the driving area.
- Turn on "lab mode" in the Setup Tab tab of the LCC to activate the IPS.
- Wait until all vehicles are shown at their correct poses in the LCC.
Load Choose your desired script and click "deploy"follow this guide to start the experiment.
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Always ensure that the vehicles' batteries are loaded. If the battery percentage drops below 40%, charge the vehicle after your experiment. |
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You cannot use the "Central Routing" example for the distributed calcuation, as its purpose is to be calculated centralized (that why it is called CENTRAL routing;)). If you upload it on the NUC, each NUC would calculate the trajectory and collisions for only local IDs and would have no knowledge about the neighbours. So collisions would be quite possible. |
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The Matlab version on the NUCs can be selected from the installed ones using the startup script. See Specifying the matlab version for HLCs on the NUCs. |