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 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. t1 t2

    • 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: t3

2. TITA Tower Software

Start software

bool success
string message

ros2 service call start std_srvs/srv/Trigger "{}" t4

Stop Software

---
bool success
string message

ros2 service call stop std_srvs/srv/Trigger "{}" t5

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

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