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| Original file line number | Diff line number | Diff line change |
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| @@ -1,74 +1,95 @@ | ||
| # RoboBuggy2 | ||
| A complete re-write of the old RoboBuggy. | ||
| A complete re-write of the old RoboBuggy. This code was run for RD23, RD24 and RD25, on both NAND and Short Circuit. | ||
|
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||
|
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| --- | ||
| ## Table of Contents | ||
| - Installation | ||
| - Quickstart | ||
| - Development | ||
| - Installation and Initial Setup | ||
| - Launching Code | ||
| - Infrastructure Documentation | ||
| - Code Structure and Documentation | ||
|
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||
|
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||
| --- | ||
| ## Installation (for Windows) | ||
| ### Install Softwares: WSL, Ubuntu, Foxglove | ||
| - Go to Microsoft Store to install "Ubuntu 20.04.6 LTS". | ||
| - Go install Foxglove https://foxglove.dev/. | ||
| ## Installation and Initial Setup | ||
| ### Necessary + Recommended Software | ||
| - Docker | ||
| - Foxglove | ||
| - VSCode (recommended) | ||
| - Git (recommended) | ||
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| ### Docker | ||
| - You will need [Docker](https://docs.docker.com/get-docker/) installed. | ||
| - Installation instructions here: https://docs.docker.com/get-docker/ | ||
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| ### Set up repo in WSL | ||
| - To set up ssh key, follow this link: [Connecting to GitHub with SSH](https://docs.github.com/en/authentication/connecting-to-github-with-ssh). | ||
| - Note: Ensure that the SSH keys are generated while in the WSL terminal | ||
| - In the website above, see these two pages: [Generating a new SSH key and adding it to the ssh-agent](https://docs.github.com/en/authentication/connecting-to-github-with-ssh/generating-a-new-ssh-key-and-adding-it-to-the-ssh-agent) and ["Adding a new SSH key to your GitHub account"](https://docs.github.com/en/authentication/connecting-to-github-with-ssh/adding-a-new-ssh-key-to-your-github-account). | ||
| ### Foxglove | ||
| - Installation instructions here: https://foxglove.dev/ | ||
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||
| ### Clone | ||
| - In your terminal type: `$ git clone https://github.com/CMU-Robotics-Club/RoboBuggy2.git`. | ||
| - The clone link above is find in github: code -> local -> Clone SSH. | ||
| -  | ||
| ### VSCode | ||
| - https://code.visualstudio.com/download | ||
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| ### Git | ||
| - https://git-scm.com/downloads | ||
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| ### ROS | ||
| - Navigate to `/rb_ws`. This is the catkin workspace where we will be doing all our ROS stuff. | ||
| - To build the ROS workspace and source it, run: | ||
| ### Install Softwares: WSL, Ubuntu (Windows only) | ||
| - Go to Microsoft Store to install "Ubuntu 20.04.6 LTS". | ||
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| catkin_make | ||
| source /rb_ws/devel/setup.bash # sets variables so that our package is visible to ROS commands | ||
| ### Set up repo in WSL | ||
| - To set up ssh key, follow this link: [Connecting to GitHub with SSH](https://docs.github.com/en/authentication/connecting-to-github-with-ssh). | ||
| - Note: Ensure that the SSH keys are generated while in the WSL terminal | ||
| - In the website above, see these two pages: [Generating a new SSH key and adding it to the ssh-agent](https://docs.github.com/en/authentication/connecting-to-github-with-ssh/generating-a-new-ssh-key-and-adding-it-to-the-ssh-agent) and ["Adding a new SSH key to your GitHub account"](https://docs.github.com/en/authentication/connecting-to-github-with-ssh/adding-a-new-ssh-key-to-your-github-account). | ||
|
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| ## Installation (for MacOS) | ||
| ### Install Softwares: Docker, Foxglove | ||
| - Go install Foxglove https://foxglove.dev/. | ||
| - You will need [Docker](https://docs.docker.com/get-docker/) installed. | ||
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||
| ### Apple Silicon Mac Only: | ||
| - In Docker Desktop App: go to settings -> general and turn on "Use Rosetta for x86/amd64 emulation on Apple Silicon" | ||
| - In Docker Desktop App: go to settings -> general and turn on "Use Rosetta for x86/amd64 emulation on Apple Silicon" | ||
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||
| ### Set up repository | ||
| - To set up ssh key, follow this link: [Connecting to GitHub with SSH](https://docs.github.com/en/authentication/connecting-to-github-with-ssh). | ||
| - Note: Ensure that the SSH keys are generated while in the terminal | ||
| - In the website above, see these two pages: [Generating a new SSH key and adding it to the ssh-agent](https://docs.github.com/en/authentication/connecting-to-github-with-ssh/generating-a-new-ssh-key-and-adding-it-to-the-ssh-agent) and ["Adding a new SSH key to your GitHub account"](https://docs.github.com/en/authentication/connecting-to-github-with-ssh/adding-a-new-ssh-key-to-your-github-account). | ||
|
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||
| ### Clone | ||
| - In your terminal type: `$ git clone [email protected]:CMU-Robotics-Club/RoboBuggy2.git`. | ||
| - The clone link above is find in github: code -> local -> Clone SSH. | ||
| -  | ||
|
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||
| ### Clone the Repository | ||
| This is so you can edit our codebase locally, and sync your changes with the rest of the team through Git. | ||
| - In your terminal type: `$ git clone https://github.com/CMU-Robotics-Club/RoboBuggy2.git`. | ||
| - The clone link above is the URL or can be found above: code -> local -> Clone HTTPS. | ||
|
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||
| ### ROS | ||
| - Navigate to `/rb_ws`. This is the catkin workspace where we will be doing all our ROS stuff. | ||
| - To build the ROS workspace and source it, run: | ||
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||
| catkin_make | ||
| source /rb_ws/devel/setup.bash # sets variables so that our package is visible to ROS commands | ||
| ### Foxglove Visualization | ||
| - Foxglove is used to visualize both the simulator and the actual buggy's movements. | ||
| - First, you need to import the layout definition into Foxglove. On the top bar, click Layout, then "Import from file". | ||
| -  | ||
| - Go to RoboBuggy2 and choose the file [telematics layout](telematics_layout.json) | ||
| - To visualize the simulator, launch the simulator and then launch Foxglove and select "Open Connection" on startup. | ||
| - Use this address `ws://localhost:8765` for Foxglove Websocket | ||
| - Open Foxglove, choose the third option "start link". | ||
| -  | ||
|
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||
| --- | ||
| ## Open Docker | ||
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| ### X11 Setup (recommended) | ||
| - Install the appropriate X11 server on your computer for your respective operating systems (Xming for Windows, XQuartz for Mac, etc.). | ||
| - Mac: In XQuartz settings, ensure that the "Allow connections from network clients" under "Security" is checked. | ||
| - Windows: Make sure that you're using WSL 2 Ubuntu and NOT command prompt. | ||
| - While in a bash shell with the X11 server running, run `xhost +local:docker`. | ||
| - Boot up the docker container using the "Alternate Shortcut" above. | ||
| - Run `xeyes` while INSIDE the Docker container to test X11 forwarding. If this works, we're good. | ||
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| ## Launching Code | ||
| ### Open Docker | ||
| - Use `cd` to change the working directory to be `RoboBuggy2` | ||
| - Then do `./setup_dev.sh` in the main directory (RoboBuggy2) to launch the docker container. Utilize the `--no-gpu`, `--force-gpu`, and `--run-testing` flags as necessary. | ||
| - Then you can go in the docker container using the `docker exec -it robobuggy2-main-1 bash`. | ||
| - When you are done, type Ctrl+C and use `$exit` to exit. | ||
|
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||
| ## 2D Simulation | ||
| ### ROS | ||
| - Navigate to `/rb_ws`. This is the catkin workspace where we will be doing all our ROS stuff. | ||
| - (This should only need to be run the first time you set up the repository) - to build the ROS workspace and source it, run: | ||
| catkin_make | ||
| source /rb_ws/devel/setup.bash # sets variables so that our package is visible to ROS commands | ||
| - To learn ROS on your own, follow the guide on https://wiki.ros.org/ROS/Tutorials. | ||
|
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| ### 2D Simulation | ||
| - Boot up the docker container | ||
| - Run `roslaunch buggy sim_2d_single.launch` to simulate 1 buggy | ||
| - See `rb_ws/src/buggy/launch/sim_2d_single.launch` to view all available launch options | ||
|
|
@@ -81,38 +102,8 @@ A complete re-write of the old RoboBuggy. | |
| - To prevent topic name collision, a topic named `t` associated with buggy named `x` have format `x/t`. The names are `SC` and `Nand` in the 2 buggy simulator. In the one buggy simulator, the name can be defined as a launch arg. | ||
| - See [**Foxglove Visualization**](#foxglove-visualization) for visualizing the simulation. Beware that since topic names are user-defined, you will need to adjust the topic names in each panel. | ||
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||
| ### Simulator notes | ||
| Feedback: | ||
| - Longitude + Latitude for Foxglove visualization on map: `/state/pose_navsat` (sensor_msgs/NavSatFix) | ||
| - UTM coordinates (assume we're in Zone 17T): `/sim_2d/utm` (geometry_msgs/Pose - position.x = Easting meters , position.y = Northing meters, position.z = heading in degrees from East axis + is CCW) | ||
| - INS Simulation: `/nav/odom` (nsg_msgs/Odometry) (**Noise** is implemented to vary ~1cm) | ||
| Commands: | ||
| - Steering angle: `/buggy/steering` in degrees (std_msgs/Float64) | ||
| - Velocity: `/buggy/velocity` in m/s (std_msgs/Float64) | ||
|
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||
|
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||
| ## Foxglove Visualization | ||
| - Foxglove is used to visualize both the simulator and the actual buggy's movements. | ||
| - First, you need to import the layout definition into Foxglove. On the top bar, click Layout, then "Import from file". | ||
| -  | ||
| - Go to RoboBuggy2 and choose the file [telematics layout](telematics_layout.json) | ||
| - To visualize the simulator, launch the simulator and then launch Foxglove and select "Open Connection" on startup. | ||
| - Use this address `ws://localhost:8765` for Foxglove Websocket | ||
| - Open Foxglove, choose the third option "start link". | ||
| -  | ||
|
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||
| ## X11 Setup | ||
| Instructions: | ||
| - Install the appropriate X11 server on your computer for your respective operating systems (Xming for Windows, XQuartz for Mac, etc.). | ||
| - Mac: In XQuartz settings, ensure that the "Allow connections from network clients" under "Security" is checked. | ||
| - Windows: Make sure that you're using WSL 2 Ubuntu and NOT command prompt. | ||
| - While in a bash shell with the X11 server running, run `xhost +local:docker`. | ||
| - Boot up the docker container using the "Alternate Shortcut" above. | ||
| - Run `xeyes` while INSIDE the Docker container to test X11 forwarding. If this works, we're good. | ||
|
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||
| --- | ||
| ### Connecting to and Launching the RoboBuggy | ||
| When launching the buggy: | ||
| ### Connecting to and Launching the RoboBuggies | ||
| When launching Short Circuit: | ||
| - Connect to the Wi-Fi named ShortCircuit. | ||
| - In the command line window: | ||
| SSH to the computer on ShortCircuit and go to folder | ||
|
|
@@ -123,13 +114,31 @@ Then `$ cd RoboBuggy2` | |
| - Go to docker container | ||
| `$ docker_exec` | ||
| - Open foxglove and do local connection to “ws://192.168.1.217/8765” | ||
| - Roslauch in docker container by `$ roslaunch buggy sc-main.launch` (or `$ roslaunch buggy nand-main.launch` for NAND) | ||
| - Roslauch in docker container by `$ roslaunch buggy sc-main.launch` | ||
| (wait until no longer prints “waiting for covariance to be better”) | ||
|
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| When launching NAND: | ||
| - Ask software lead (WIP) | ||
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| When shutting down the buggy: | ||
| - Stop roslauch | ||
| `$ ^C (Ctrl+C)` | ||
| - Leave the docker container | ||
| `$ exit` | ||
| - Shutdown the ShortCircuit computer | ||
| `$ sudo shutdown now` | ||
|
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| ## Documentation | ||
| ### Infrastructure Documentation | ||
| Ask Software Lead (WIP) | ||
|
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||
| ### Simulator notes | ||
| - Longitude + Latitude for Foxglove visualization on map: `/state/pose_navsat` (sensor_msgs/NavSatFix) | ||
| - UTM coordinates (assume we're in Zone 17N): `/sim_2d/utm` (geometry_msgs/Pose - position.x = Easting meters , position.y = Northing meters, position.z = heading in degrees from East axis + is CCW) | ||
| - INS Simulation: `/nav/odom` (nsg_msgs/Odometry) (**Noise** is implemented to vary ~1cm) | ||
| Commands: | ||
| - Steering angle: `/buggy/steering` in degrees (std_msgs/Float64) | ||
| - Velocity: `/buggy/velocity` in m/s (std_msgs/Float64) | ||
|
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||
| ### Auton Logic | ||
| Ask someone with experience (WIP) | ||
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,6 @@ | ||
| <!-- roslaunch buggy main.launch --> | ||
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| <launch> | ||
| <node name="foxglove" pkg="foxglove_bridge" type="foxglove_bridge" /> | ||
| <node name="watchdog" pkg="buggy" type="watchdog.py" args = "--self_name SC" output="screen"/> | ||
| </launch> |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,87 @@ | ||
| #!/usr/bin/env python3 | ||
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| import argparse | ||
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| import rospy | ||
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| from std_msgs.msg import Bool, Int8, Float64 | ||
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| class Watchdog: | ||
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| STEERING_DEVIANCE = 4 #deg | ||
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| def __init__(self, self_name) -> None: | ||
| self.alarm = 0 #Check this alarm value | ||
| """ | ||
| 0 - OK | ||
| 1 - WARNING | ||
| 2 - ERROR | ||
| """ | ||
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| self.commanded_steering = 0 | ||
| self.inAutonSteer = False | ||
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| rospy.Subscriber( | ||
| self_name + "/buggy/input/steering", Float64, self.set_input_steering | ||
| ) | ||
| rospy.Subscriber( | ||
| self_name + "/buggy/debug/steering_angle", Float64, self.check_stepper_steering | ||
| ) | ||
| rospy.Subscriber( | ||
| self_name + "/buggy/debug/use_auton_steer", Bool, self.set_auton_steer | ||
| ) | ||
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| self.alarm_publisher = rospy.Publisher(self_name + "/debug/sanity_warning", Int8, queue_size=1) | ||
| self.alarm_publish_rate = rospy.Rate(100) #10ms per alarm | ||
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| def set_input_steering(self, msg): | ||
| rospy.logdebug("Got input steering of: " + str(msg.data)) | ||
| self.commanded_steering = msg.data | ||
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| def set_auton_steer(self, msg): | ||
| if (msg.data and not self.inAutonSteer): | ||
| rospy.loginfo("ENTERED AUTON") | ||
| if (not msg.data and self.inAutonSteer): | ||
| rospy.logwarn("EXITED AUTON") | ||
| self.alarm = 0 #No alarm if not in auton | ||
| self.inAutonSteer = msg.data | ||
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| def check_stepper_steering(self, msg): | ||
| stepper_steer = msg.data | ||
| rospy.logdebug("Firmware's reported stepper degree: " + str(stepper_steer)) | ||
| if (self.alarm < 2): | ||
| self.alarm = 0 | ||
| if abs(stepper_steer - self.commanded_steering) > Watchdog.STEERING_DEVIANCE: | ||
| if self.inAutonSteer: | ||
| self.alarm = 2 # ERROR | ||
| rospy.logerr("STEPPER DEVIANCE (DEGREES OFF): " + str(abs(stepper_steer - self.commanded_steering))) | ||
| else: | ||
| rospy.logdebug("(Non Auton) Stepper Deviance of: " + str(abs(stepper_steer - self.commanded_steering))) | ||
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| elif abs(stepper_steer - self.commanded_steering) > Watchdog.STEERING_DEVIANCE//2: | ||
| if self.inAutonSteer: | ||
| self.alarm = max(self.alarm, 1) | ||
| rospy.logwarn("STEPPER POSSIBILY DEVIATING (DEGREES OFF): " + str(abs(stepper_steer - self.commanded_steering))) | ||
| else: | ||
| rospy.logdebug("(Non Auton) Stepper possibly deviating: " + str(abs(stepper_steer - self.commanded_steering))) | ||
|
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| def loop(self): | ||
| while not rospy.is_shutdown(): | ||
| #publish alarm | ||
| ros_alarm = Int8() | ||
| ros_alarm.data = self.alarm | ||
| self.alarm_publisher.publish(ros_alarm) | ||
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| self.alarm_publish_rate.sleep() | ||
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| if __name__ == "__main__": | ||
| parser = argparse.ArgumentParser() | ||
| parser.add_argument( | ||
| "--self_name", type=str, help="name of ego-buggy", required=True | ||
| ) | ||
| args, _ = parser.parse_known_args() | ||
| self_name = args.self_name | ||
| rospy.init_node("watchdog") | ||
| rospy.loginfo("INITIALIZED WATCHDOG NODE") | ||
| watchdog = Watchdog(self_name=self_name) | ||
| watchdog.loop() |