TCIII

@duttasantanuGH, What branch of DC are you using? The `main branch` or `next-gen-lidar-parts branch`? There is no `board.py part` in either the main branch or the `next-gen-lidar-parts branch`. I assume...

@duttasantanuGH, Unfortunately I never used the Lidar in the `main` branch and only worked with the `next-gen-lidar-parts` branch. I have an A1M8 running successfully on a NVIDIA Nano 4GB running...

@duttasantanuGH, Do you have `pip3 install glob2` installed? TCIII

@duttasantanuGH, Do you have user write permissions set for the NVIDIA USB ports? TCIII

@duttasantanuGH, It appears that the "canberra-gtk-module" has to do with firefox which I believe the JP4.6 Ubuntu 18.04 uses? Are you running `manage.py drive` over SSH or are you trying...

@duttasantanuGH, I suggest that you run the `lidar.py main` from the desktop and see if that is functional and then move on to trying to run headless. TCIII

@Ezward, An excellent roadmap for the path forward.

@Ezward, Nice analysis and proposed solutions and limitations. I have a 2WD robot chassis equipped with both a T265 and dual high resolution quadrature encoders so I will be available...

@fswalden, Did you set "PCA9685_I2C_BUSNUM = 1" since you are using a Nano? If you did and you are still getting the I/O error, then you may have a defective...

@fswalden, If `sudo i2cdetect -r -y 1` detected the address of your PCA9685, then your I2C connection as well as the health of the PCA9685 should not be suspect. What...