First Run

Guide to running the AV2 for the first time after installation.

Pre-Flight Checklist

Before starting the system, verify:

Hardware

  • [ ] All sensors powered and connected

  • [ ] Teensy CAN master connected via USB

  • [ ] GPS antenna has clear sky view

  • [ ] Emergency stop is accessible

  • [ ] Test area is clear of obstacles and people

  • [ ] Vehicle is on stable, level ground

Software

  • [ ] Virtual environment activated

  • [ ] All dependencies installed

  • [ ] Configuration files reviewed

  • [ ] Destination coordinates verified

Step 1: Activate Environment

cd ~/utm-navigator
source venv/bin/activate

Step 2: Sensor Verification

Run individual sensor tests:

GPS/IMU (Xsens)

python -c "from xsens_class import XsensReceiver; x = XsensReceiver(); print(x.get_position())"

Expected: Latitude, longitude, altitude values (may take 30-60 seconds for GPS lock)

LIDAR (Velodyne)

python -c "from sensors.lidar_interface import VelodyneLIDAR; l = VelodyneLIDAR(); print(f'Points: {len(l.get_scan())}')"

Expected: Point count > 0 (typically 20,000-30,000 points)

Vehicle Actuator (Teensy)

python -c "from vehicle_actuator import VehicleActuator; v = VehicleActuator(); v.set_steering(0)"

Expected: No errors, steering centers

Step 3: Visualization Test

Test the GPS visualizer to verify positioning:

python gps_visualizer.py

This opens a real-time plot showing:

  • Current GPS position

  • Heading indicator

  • RTK status

Wait for RTK fix (status should show “RTK Fixed” for best accuracy).

Step 4: Manual Control Test

Test vehicle control manually before autonomous operation:

python manual_control.py

Controls:

Key

Action

W

Throttle forward

S

Throttle reverse

A

Steer left

D

Steer right

Space

Brake

E

Emergency stop

Q

Quit

Warning

Start with small inputs. Verify steering and throttle respond correctly before increasing speed.

Step 5: First Autonomous Run

For your first autonomous test, choose a simple, short route:

  1. Get current position:

    python -c "from xsens_class import XsensReceiver; x = XsensReceiver(); print(x.get_position())"

  2. Choose a destination ~20-50 meters away with clear path

  3. Start autonomous navigation:

    python runner.py --lat <dest_latitude> --lon <dest_longitude>

    Example (Cal Poly Pomona area):

    python runner.py --lat 34.0580 --lon -117.8210

  4. Monitor the visualization showing:

    • Current position (blue dot)

    • Planned route (green line)

    • Target waypoint (red marker)

    • Steering and speed commands

  5. Be ready to intervene - Keep hands near emergency stop

Stopping the System

Normal Shutdown

Press Ctrl+C in the terminal. The system will:

  1. Send zero throttle command

  2. Apply brakes

  3. Close sensor connections

  4. Save log files

Emergency Stop

Press the physical emergency stop button or:

# In another terminal
python -c "from vehicle_actuator import VehicleActuator; v = VehicleActuator(); v.emergency_stop()"

Reviewing Logs

After each run, logs are saved to the logs/ directory:

ls -la logs/

Log files include:

  • control_log_<timestamp>.csv - Timestamped control commands

  • gps_log_<timestamp>.csv - GPS positions and headings

  • error_log_<timestamp>.txt - Any errors or warnings

Analyze a log:

python scripts/analyze_log.py logs/control_log_<timestamp>.csv

Common First-Run Issues

No GPS Fix

Symptom: Position shows NaN or doesn’t update

Solutions:

  • Ensure clear sky view (no buildings/trees blocking)

  • Wait longer (cold start can take 2-3 minutes)

  • Check antenna connection

  • Verify Xsens device is detected: ls /dev/ttyUSB*

LIDAR No Data

Symptom: Point cloud is empty

Solutions:

  • Check Ethernet connection

  • Verify IP configuration (default: 192.168.1.201)

  • Check firewall: sudo ufw allow 2368/udp

Vehicle Doesn’t Respond

Symptom: Steering/throttle commands have no effect

Solutions:

  • Check Teensy USB connection: ls /dev/ttyACM*

  • Verify serial permissions: sudo usermod -a -G dialout $USER

  • Check vehicle is in correct mode (not in physical override)

Next Steps

Congratulations on your first run! Next, explore:

  • Basic Navigation - Detailed navigation tutorial

  • Obstacle Avoidance - Enable obstacle avoidance

  • ../configuration/index - Tune system parameters

  • ../troubleshooting/index - Detailed troubleshooting guide