1. Communication Setting

To communicate with SLAMBOX, you need to setup the serial communication or ethernet communication of your host PC

1.1. Serial

To get data from SLAMBOX through serial, check your host PC's serial communication port

# check which serial port is online

ls -al /dev/ttyUSB*

If you connect the TTL2USB module properly, then the result shows like this

crw-rw---- 1 root dialout 188, 0 Dec 11 10:46 /dev/ttyUSB0

The result means the serial communication port is /dev/ttyUSB0

If your host PC account do not have a permission to dialout group, add the account to the group dialout

# add $USER to group dialout
sudo usermod -a -G dialout $USER
 
# activate the changes of group
newgrp dialout

1.2. OTG

Once you plug in OTG cable into your host computer, the IP address is automatically assigned via DHCP server built in SLAMBOX. Please check if the IP address has been acquired. If IP address is assigned, the host computer is ready to communicate via OTG cable.

1.3. Ethernet

Some LiDARs, such as Unitree L1, requires to connect with USB. The OTG cable of the SLAMBOX will be disabled if you use such LiDARs. In that case, you can connect SLAMBOX via serial or ethernet communication.

To get data from SLAMBOX through etherent, set your host computer IP as below. You set this up either via CLI or GUI.

1.2.1. Set Static IP with CLI

To set static ip to your host PC, please follow the commands below

NOTE: The default IP address of SLAMBOX is 192.168.101.101. You need to avoid using this IP address.

# check the ethernet device
ifconfig
 
# result will show the ethernet port which connected with SLAMBOX
enx5ad1753eff84: flags=4163<UP,BROADCAST,RUNNING,MULTICAST>  mtu 1500
        inet6 fe80::b045:854e:fa2e:21b3  prefixlen 64  scopeid 0x20<link>
        ether xx:xx:xx:xx:xx:xx txqueuelen 1000  (Ethernet)
        RX packets 24  bytes 3121 (3.1 KB)
        RX errors 0  dropped 0  overruns 0  frame 0
        TX packets 42  bytes 7403 (7.4 KB)
        TX errors 0  dropped 0 overruns 0  carrier 0  collisions 0

Then set the device's IP.

In this example, we set the static IP to 192.168.101.5

# set device's IP
sudo ifconfig enx5ad1753eff84 down
sudo ip addr add 192.168.101.5/24 dev enx5ad1753eff84
sudo ifconfig enx5ad1753eff84 up
 
# check the IP is set properly
ifconfig
 
enx5ad1753eff84: flags=4163<UP,BROADCAST,RUNNING,MULTICAST>  mtu 1500
        inet 192.168.101.5 netmask 255.255.255.0 broadcast 0.0.0.0
        inet6 fe80::b045:854e:fa2e:21b3  prefixlen 64  scopeid 0x20<link>
        ether xx:xx:xx:xx:xx:xx txqueuelen 1000  (Ethernet)
        RX packets 24  bytes 3121 (3.1 KB)
        RX errors 0  dropped 0  overruns 0  frame 0
        TX packets 42  bytes 7403 (7.4 KB)
        TX errors 0  dropped 0 overruns 0  carrier 0  collisions 0

1.2.2. Set Static IP with Ubuntu GUI

This part demonstrates how to set static ip to your host PC with ubuntu GUI.

Check the SLAMBOX connection

Click the Setting buttion(gear logo) then goto ipv4 tab

Then, set the device IP like the screen shot below

Set static ip of the host device

2. SLAMBOX Setting

Check how to setup SLAMBOX or how to configure SLAMBOX, please see here(SLAMBOX Setting)

3. LiDAR Setting

Check how to setup LiDAR to SLAMBOX, please see here(LiDAR Setting)

4. Download Mapping File

Mapping results are saved periodically in the SLAMBOX device. The saved mapping file(.PCD) can be downloaded by visiting web URL (http://192.168.101.101:8080).
The default user ID and password are user / user

NOTE USB-C (OTG) or ethernet cable must be plugged into your computer in order to access the URL.

5. Advanced

Please check following pages for the next step.

Table of Contents