Agipix (Real Robot) — Quick Guide

Use this page to jump into the real robot setup. Each section below gives a short summary and links to the full guide.

1) Hardware Assembly

• Cut CF plates from the provided DXF patterns and post‑process as needed.
• Print TPU parts from the STL set (recommended: 0.2 mm layers, 40% infill; higher for bushings).
• Assemble frame, power, ESCs, motors, radio/telemetry, and flight controller.
• Complete low‑level checks and a brief manual flight validation.
• Mount compute (Jetson Orin NX + Hadron), antennas, wiring, and sensor cage (Livox Mid‑360, optional RGB/RGB‑D).

2) Flashing the Hardware

• Target: JetPack 6.x (Jetson Linux R36.3) on Orin NX/Nano with Connect Tech carriers.
• Prepare BSP_ROOT with NVIDIA BSP + sample rootfs; install CTI L4T BSP.
• Put the board in recovery, then flash via CTI menu script or manual NVMe script.
• On first boot: complete setup, join Wi‑Fi, SSH in; consider NoMachine, nvpmodel, Docker/NVIDIA toolkit.
• Keep handy: CTI docs/KB and NVIDIA references linked in the guide.

3) Interfacing PX4 and sensnors

• PX4 low level controller is wired up and interfaced
• Lidar, Mono camera, Realsense/Oak-D cameras are connected and interfaced

4) Software Setup

• Runtime is containerized; follow isaac_ros_common Docker setup.
• Branches: agipix-hard (hardware), agipix-sim (simulation).
• For sim instructions, see the simulation docs; for autonomy, continue to perception stack.

5) MANET Mesh networking

• This is a work in progress upgarde to the agipix framework to use the long rage robust capabilities of the Wi-Fi HaLow mesh networking.

Appendix — Hadron/Env Notes

File: hadron_cfg.txt

• Workspace layout hints for control, DDS agent, LiDAR drivers, and vision.
• Useful bash aliases and Docker entry helper.
• Sample nmcli snippet for a static wired IP.

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Next Steps ?

• Simulation
• Autonomy
• UI