Hardware Setup

Follower

1. Connect all three battery charging cables to the charging terminals on the back of the Follower.
2. Connect the Follower's HDMI port to a monitor.
3. If you need internet access, connect a LAN cable to the LAN port.
4. Press and hold the Power button on the back of the Follower for about 3 seconds to turn on the board.
5. After you hear a beep, check that the monitor displays the screen.

Leader

1. Connect the USB cable to the rear USB port of the Follower.
2. Plug the power cable into an electrical outlet.
3. The U2D2 switch is inside a hole. Slide the switch toward the white dot to turn on the U2D2.

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Software Setup

Prerequisites

• Ubuntu environment
• Docker Engine
• Git
• NVIDIA Container Toolkit (Install the graphics driver nvidia-driver-570-server-open for CUDA 12.8)

Configuration

1. USB Serial Setup

1. Prepare the provided serial data.
2. Create a udev rule:

sudo nano /etc/udev/rules.d/99-ai-worker.rules

3. Paste the prepared serial data into the file.
4. Save the file and exit the editor.
5. Reload udev rules and trigger:

sudo udevadm control --reload
sudo udevadm trigger

2. Docker Setup

• Create workspace and clone repository:

cd ~/ # specify desired path
git clone -b jazzy https://github.com/ROBOTIS-GIT/ai_worker.git

• Build and run Docker container:

cd ai_worker
./docker/container.sh start without_gz # Docker build

./docker/container.sh enter # Enter the running Docker container

Docker Command Guide

This script (container.sh) helps you easily manage Docker containers, including starting, entering, and stopping them.

Usage

./container.sh [command] [options]

Commands

• help
  Displays this help message.

• start [with_gz|without_gz]
  Starts the container with or without Gazebo support.

  • with_gz: Includes Gazebo support
  • without_gz: Excludes Gazebo support

• enter
  Enters the running container.

• stop
  Stops the container.

Examples

./container.sh help                 # Show this help message
./container.sh start with_gz        # Start container with Gazebo support
./container.sh start without_gz     # Start container without Gazebo support
./container.sh enter                # Enter the running container
./container.sh stop                 # Stop the container