TITA Tower Manual
Last updated
Last updated
Before using the TITA Tower, the following preparations are needed：
Install the Power Supply
The TITA Tower is powered through its own DB25 external interface, and an officially certified DB25 connection cable is required.
Warning:Hot plugging is not recommended on DB25 interface, which may cause abnormal power loss in the TITA Tower.
Debug
TITA Tower supports Ethernet as well as multi-machine interactive debugging. Pleasse connect TITA Tower to your laptop via an Ethernet cable.
Check IP
You can access the device information Web: http://10.42.0.1:8000 by connecting to the TITA Tower's hotspot.
Attention:
192.168.19.101 //The IP address assigned to the wired network port.
10.42.0.1 //The IP address assigned to the wireless WiFi network.
Normally , TITA Tower 's ROS_DOMAIN_ID is 42 .
To achieve multi-machine interaction , you need set the Debug Machine's ROS_DOMAIN_ID to 42 , and then soure ~/.bashrc
When the TITA Tower is powered on, the working light turns blue , indicating its standby mode.
Open the terminal and use ros2 topic list, you can see the following topics:
ros2 service call startstd_srvs/srv/Trigger"{}"
ros2 service call stop std_srvs/srv/Trigger "{}"
It can provide high-precision odometry information.
ros2 topic echo mapping/odometry
ros2 topic echo rtk/gnss_soln
ros2 topic echo cloud_colored
Left Camera CompressData
ros2 topic echo camera/left/jpeg
Right Camera CompressData
ros2 topic echo camera/right/jpeg
ros2 topic echo camera/left/preview
ros2 topic echo camera/right/preview
