TITA Tower Manual
1. Quick Start
1.1 Preparation work
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 TowerDebug 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.
注意:
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.
1.2 Environment Configuration
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
1.2.1 Test Machine Status
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:
2. TITA Tower Software
Start software
bool success
string message
ros2 service call start std_srvs/srv/Trigger "{}"
Stop Software
---
bool success
string message
ros2 service call stop std_srvs/srv/Trigger "{}"
Real-time output
It can provide high-precision odometry information
nav_msgs/msg/Odometry ros2 topic echo mapping/odometry
GPS latitude and longitude information
sensor_msgs/msg/NavSatFix ros2 topic echo gps/gnss_soln
Color PointCloud
sensor_msgs/msg/PointCloud2 ros2 topic echo cloud_colored
Left Camera CompressData
sensor_msgs/msg/CompressedImage ros2 topic echo camera/left/jpeg
Right Camera CompressData
sensor_msgs/msg/CompressedImage ros2 topic echo camera/right/jpeg
Left Camera PreviewData
sensor_msgs/msg/Image ros2 topic echo camera/left/preview
Right Camera PreviewData
sensor_msgs/msg/Image ros2 topic echo camera/right/preview
Start rviz
1 rviz2