From 96d0366487771504824c0eb6a5773384de83d422 Mon Sep 17 00:00:00 2001 From: TiaSinghania Date: Tue, 1 Oct 2024 15:53:30 -0400 Subject: [PATCH] removed todos --- README.md | 44 ++++++++++++++++++++++---------------------- 1 file changed, 22 insertions(+), 22 deletions(-) diff --git a/README.md b/README.md index 6f78dc3..c431aa3 100755 --- a/README.md +++ b/README.md @@ -5,13 +5,13 @@ A complete re-write of the old RoboBuggy. This code was run for RD23, RD24 and R ## Table of Contents - Installation and Initial Setup - Launching Code + - Infrastructure Documentation - Code Structure and Documentation --- ## Installation and Initial Setup ### Necessary + Recommended Software -TODO: add explanations for what each software is for - Docker - Foxglove - VSCode (recommended) @@ -29,12 +29,10 @@ TODO: add explanations for what each software is for ### Git - -## TODO: other docs which i don't know if they're necessary ### Install Softwares: WSL, Ubuntu - Go to Microsoft Store to install "Ubuntu 20.04.6 LTS". TODO: is this actually necessary? -### Set up repo in WSL TODO: again, do we actually need wsl? +### 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). @@ -46,23 +44,10 @@ TODO: add explanations for what each software is for - 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). -## Initial Setup - ### 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 find in github: code -> local -> Clone SSH. -- ![image](https://github.com/CMU-Robotics-Club/RoboBuggy2/assets/116482510/8ea809f7-35f9-4517-b98d-42e2e869d233) - - -### ROS -TODO: what is this actually doing? explain what these lines of code do -- 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. TODO: add recommendations on which aspects of ROS we use most +- The clone link above is the URL or can be found above: code -> local -> Clone HTTPS. ### Foxglove Visualization @@ -93,6 +78,13 @@ TODO: explain what X11 is for (i think it's only for the manual velocity updater - 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 `$exit` to exit. +### ROS +- Navigate to `/rb_ws`. This is the catkin workspace where we will be doing all our ROS stuff. +- (This should only need to be run the first time you set up the repository) - to build the ROS workspace and source it, run: + catkin_make + source /rb_ws/devel/setup.bash # sets variables so that our package is visible to ROS commands +- To learn ROS on your own, follow the guide on https://wiki.ros.org/ROS/Tutorials. TODO: add recommendations on which aspects of ROS we use most + ### 2D Simulation - Boot up the docker container - Run `roslaunch buggy sim_2d_single.launch` to simulate 1 buggy @@ -106,8 +98,8 @@ TODO: explain what X11 is for (i think it's only for the manual velocity updater - To prevent topic name collision, a topic named `t` associated with buggy named `x` have format `x/t`. The names are `SC` and `Nand` in the 2 buggy simulator. In the one buggy simulator, the name can be defined as a launch arg. - See [**Foxglove Visualization**](#foxglove-visualization) for visualizing the simulation. Beware that since topic names are user-defined, you will need to adjust the topic names in each panel. -### Connecting to and Launching the RoboBuggy -When launching the buggy: +### Connecting to and Launching the RoboBuggies +When launching Short Circuit: - Connect to the Wi-Fi named ShortCircuit. - In the command line window: SSH to the computer on ShortCircuit and go to folder @@ -118,9 +110,12 @@ Then `$ 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”) +When launching NAND: +- WORK IN PROGRESS + When shutting down the buggy: - Stop roslauch `$ ^C (Ctrl+C)` @@ -130,11 +125,16 @@ When shutting down the buggy: `$ sudo shutdown now` ## Documentation +### Infrastructure Documentation +WORK IN PROGRESS + ### Simulator notes - 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) +- 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) +### Auton Logic +WORK IN PROGRESS