Basic Configuration for First-Time Use

1. Course Content

• Steps required for users to configure the machine for the first time.

2. Configure LiDAR Type

The ROSMASTER-M3 distinguishes between single and dual LiDAR versions. You need to modify the system environment variables according to your car's LiDAR type.

• Open a terminal, and it will print basic system information.

Meaning of terminal information:

• MACHINE: Car's mainboard type
• ROBOT_TYPE: Product robot model
• ROS_DOMAIN_ID: ROS domain ID
• ROS_DISTRO: ROS version
• LASER_TYPE: LiDAR type, distinguishing between single and dual LiDAR versions
• CAMERA_TYPE: Distinguishes between Orbbec Dabai_DCW2 and ANSEE Nuwa-HP60C versions

For Raspberry Pi 5 users, if the ROS container is not started, you need to start it first:

bringup_m3

Open a terminal inside the container:

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exec_m3

• Open the .bashrc file to modify LASER_TYPE:

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nano ~/.bashrc

• Uncomment the corresponding line based on your car's single or dual LiDAR type. The following image shows an example for a single LiDAR version.

• For a single LiDAR version, uncomment export LASER_TYPE=single and comment out #export LASER_TYPE=dual.

• For a dual LiDAR version, uncomment export LASER_TYPE=dual and comment out #export LASER_TYPE=single.

   

3. Configure Camera Type

• Similarly, modify CAMERA_TYPE to your camera type. The following image shows an example for the Dabai_DCW2 camera.
• Orbbec Dabai_DCW2: dabai_dcw2
• ANSEE Nuwa-HP60C: as_hp60c

• After modifying, press Ctrl+X, then enter y to save and exit.
• Refresh the environment variables:

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source .bashrc

Check that LASER_TYPE and CAMERA_TYPE in the terminal information match your LiDAR and camera types.