Merge branch 'main' into actions

.github/pull_request_template

@@ -0,0 +1,65 @@
+<!--
+     For Work In Progress Pull Requests, please use the Draft PR feature,
+     see https://github.blog/2019-02-14-introducing-draft-pull-requests/ for further details.
+
+     For a timely review/response, please avoid force-pushing additional
+     commits if your PR already received reviews or comments.
+
+     Before submitting a Pull Request, please ensure you've done the following:
+     - 📖 Read the Forem Contributing Guide: https://developers.forem.com/contributing-guide/forem#create-a-pull-request
+     - 📖 Read the Forem Code of Conduct: https://github.com/forem/forem/blob/main/CODE_OF_CONDUCT.md
+     - 👷‍♀️ Create small PRs. In most cases this will be possible.
+     - ✅ Provide tests for your changes.
+     - 📝 Use descriptive commit messages.
+     - 📗 Update any related documentation and include any relevant screenshots.
+
+     NOTE: Pull Requests from forked repositories will need to be reviewed by
+     a Forem Team member before any CI builds will run. Once your PR is approved
+     with a `/ci` reply to the PR, it will be allowed to run subsequent builds without
+     manual approval.
+-->
+
+## What type of PR is this? (check all applicable)
+
+- [ ] Refactor
+- [ ] Feature
+- [ ] Bug Fix
+- [ ] Optimization
+- [ ] Documentation Update
+
+## Description
+_Describe the CHANGES, the REASONING, and BENEFITS of this PR._
+
+## Related Tickets & Documents
+
+<!--
+For pull requests that relate or close an issue, please include them
+below.  We like to follow [Github's guidance on linking issues to pull requests](https://docs.github.com/en/issues/tracking-your-work-with-issues/linking-a-pull-request-to-an-issue).
+
+For example having the text: "closes #1234" would connect the current pull
+request to issue 1234.  And when we merge the pull request, Github will
+automatically close the issue.
+-->
+
+- Related Issue #
+- Closes #
+
+## QA Instructions, Screenshots, Recordings
+
+_Please replace this line with instructions on how to test your changes, a note
+on the devices and browsers this has been tested on, as well as any relevant
+images for UI changes._
+
+## Added/updated tests?
+_We encourage you to keep the code coverage percentage at 80% and above._
+
+- [ ] Yes
+- [ ] No, and this is why: _please replace this line with details on why tests
+      have not been included_
+- [ ] I need help with writing tests
+
+## [optional] Are there any post deployment tasks we need to perform?
+
+## [optional] What gif best describes this PR or how it makes you feel?
+
+![alt_text](gif_link)

README.md

@@ -9,84 +9,127 @@ A complete re-write of the old RoboBuggy.
 
 
 ---
-## Installation
+## 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/.
+
 ### Docker
 - You will need [Docker](https://docs.docker.com/get-docker/) installed.
 
-- Once installed, the Docker image can be built as follows from the repository's root directory:
-
-        docker compose build --no-cache
-        docker compose --env-file .env.dev up
-
-- Then in another terminal window, in order to access the running Docker's CLI, run:
+### 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).
 
-        docker exec -it robobuggy2-main-1 bash
+### 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.
+- ![image](https://github.com/CMU-Robotics-Club/RoboBuggy2/assets/116482510/8ea809f7-35f9-4517-b98d-42e2e869d233)
 
-- Now you should be presented with a bash CLI as you're used to.
 
 ### 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:
 
         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. Start from the first and install Ros using a Virtual Machine.
 
-### Alternate Shortcut
-- In the main directory, just run `./setup_dev.sh` or `./setup_prod.sh` as appropriate.
-- Run `exec_docker` to get into Docker environment and setup all the aliases.
-
-
----
-## 3D Simulation Quickstart
-
-Watch [this](https://youtu.be/kEL3-sF9TTE) video to get started with visualizing the simulation.
-
+## Installation (for MacOS - M2)
+### Install Softwares: Docker, Foxglove
+- Go install Foxglove https://foxglove.dev/.
+- You will need [Docker](https://docs.docker.com/get-docker/) installed.
 
-### Controls
+### 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 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).
 
-Edit `rb_ws/src/buggy/scripts/controller.py`. Skeleton code for interacting with existing topics is provided. 
+### Clone
+- In your terminal type: `$ git clone [email protected]:CMU-Robotics-Club/RoboBuggy.git`.
+- The clone link above is find in github: code -> local -> Clone SSH.
+- ![image](https://github.com/CMU-Robotics-Club/RoboBuggy2/assets/116482510/8ea809f7-35f9-4517-b98d-42e2e869d233)
 
-To launch the simulation against your controls code, run the following command: `roslaunch buggy main.launch simulation:=true`.
 
-If you get an error about not finding package `buggy`, remember to run `source /rb_ws/devel/setup.bash`. 
+### 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:
+
+        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. Start from the first and install Ros using a Virtual Machine.
 
 ---
-## 2D Simulation Quickstart
-Examples (from the same run):
-- Foxglove playback of simulated file example: [link](https://youtu.be/dpa5oH69eJI)
-- Matplotlib live simulation example: [link](https://youtu.be/6Xji-FtDQfo)
-
-Control Example:
-- Foxglove output (via sending steering + velocity commands): [link](https://youtu.be/AOsecwWmqyw)
+## 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.
+- 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.
+
+## 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
+
+- Run `roslaunch buggy sim_2d_2buggies.launch` to simulate 2 buggies
+- <img width="612" alt="Screenshot 2023-11-13 at 3 18 30 PM" src="https://github.com/CMU-Robotics-Club/RoboBuggy2/assets/45720415/b204aa05-8792-414e-a868-6fbc0d11ab9d">
+
+- See `rb_ws/src/buggy/launch/sim_2d_2buggies.launch` to view all available launch options
+- 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.
+
+### 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)
 
+
+## 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".
+- ![image](https://github.com/CMU-Robotics-Club/RoboBuggy2/assets/116482510/2aa04083-46b3-42a5-bcc1-99cf7ccdb3d2)
+- 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".
+- ![image](https://github.com/CMU-Robotics-Club/RoboBuggy2/assets/116482510/66965d34-502b-4130-976e-1419c0ac5f69)
+
+## 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.
-- Run `roslaunch buggy sim_2d.launch controller:=CONTROLLER_TYPE` for the simulator.
-
-### Using the Simulator
-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)
 
 ---
-
-## Development
-
-TODO: 
- - pusher.py: apply simulated pushing force if buggy is in certain areas  
- - steering_mux.py: Decide where to listen for steering inputs given a state
-   - dead-mans (lock right(?))
-   - Teleop (Input from foxglove teleop panel)
-   - Controls (auton)
- - instrument_*.py
-   - INS, 
+### Connecting to and Launching the RoboBuggy
+When launching the buggy:
+- Connect to the Wi-Fi named ShortCircuit.
+-	In the command line window: 
+SSH to the computer on ShortCircuit and go to folder
+`$ ssh [email protected]`
+Then `$ cd RoboBuggy2`
+-	Setup the docker
+`$ ./setup_prod.sh`
+-	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 main.launch`
+(wait until no longer prints “waiting for covariance to be better”)
+
+When shutting down the buggy:
+-	Stop roslauch
+`$ ^C  (Ctrl+C)`
+-	Leave the docker container
+`$ exit`
+-	Shutdown the ShortCircuit computer
+`$ sudo shutdown now`

python-requirements.txt

@@ -1,10 +1,10 @@
-trimesh
-pyembree
-numpy>=1.20.0
-pandas
-pymap3d
-matplotlib
-utm
-scipy
-osqp
-numba
+matplotlib==3.1.2
+numba==0.58.0
+numpy<1.21.0
+osqp==0.6.3
+pandas==2.0.3
+pyembree==0.2.11
+pymap3d==3.0.1
+scipy==1.10.1
+trimesh==3.23.5
+utm==0.7.0