Configuration

USB devices

Create serial rules for devices in /etc/udev/rules.d/99-usb-serial.rules, which is intended to set up a consistent device name. The attributes can be found by udevadm info, e.g., udevadm info -a /dev/ttyUSB0 | grep 'idVendor' | head -n1.

SUBSYSTEM=="tty", ATTRS{idVendor}=="0856", ATTRS{idProduct}=="ac11", ATTRS{serial}=="BB9O7S8F", SYMLINK+="rowe_dvl", MODE="0777"
SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6001", ATTRS{serial}=="A703G09Z", SYMLINK+="rowe_dvl", MODE="0777"

Remote serial ports

ssh to pi@192.169.2.2 and add the following lines to companion/.companion.rc to enable virtual serial ports over TCP.

• DVL: 14660
• IMU: 14661

socat tcp-listen:14661,reuseaddr,fork,ignoreeof file:/dev/ttyAMA0,nonblock,waitlock=/var/run/ttyAMA0.lock,b115200,raw,echo=0 &
socat tcp-listen:14660,reuseaddr,fork file:/dev/rowe_dvl,nonblock,waitlock=/var/run/rowe_dvl.lock,b115200,raw,echo=0 &

Disable camera

ssh to pi@192.168.2.2 and comment the following line in companion/.companion.rc.

sudo -H -u pi screen -dm -S video $COMPANION_DIR/tools/streamer.py

IP addresses

• Computer: 192.168.2.1
• BlueROV2: 192.168.2.2 user:password: pi:companion
• Oculus M750d: 192.168.2.3
• Oculus M120d: 192.168.2.4