Cold start

You just got to the car and it's switched off. All the sensors are attached and plugged in. Let's get it going!

1. Unlock the car and switch it on using the ignition key
2. Reach over near the USB port in the lower center of the dash console, and switch on the TORC key. Never switch this key when the car is in motion regardless of whether it is in human or computer control, it could lead to death or serious injury.
3. Open the reach compartment door and ensure all lights are green on the DC power supply. If any of the lights are red, switch the supply off and back on.
4. Turn on the AC power supply by holding down the power button on the UPS for approximately 2 seconds. 
5. Switch on Ironwood (the 4U computer above the AC power supply UPS) by opening the right door, and pressing the black spring-loaded on-off switch.
6. After machines are up (will take 4-5 minutes), Synchronize Clocks
   1. synchronize the time on rtd4.local with your watch or something else near the correct time (YMMV):
      sudo date -s "Sat Apr 22 19:23:18 MST 2017"
   2. After several minutes, confirm that clocks on ironwood, rtd2, and your machine match the clock on rtd2 by checking your chrony log on those machines:
      tail -f /var/log/chrony/measurements.log

7. ​Good to go!

Validating correctness

1. The ByWireXGV WiFi signal should be available
2. Both rtd2 and rtd4 should have green lights on their power supplies
3. The Velodyne sensor should be spinning
4. Clocks on all machines should be synchronized (check chrony log, and sensor outputs w/ rviz should not have delay errors)