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| # 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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| --- | ||
| ## Table of Contents | ||
| - Installation | ||
| - Quickstart | ||
| - Development | ||
| - Installation and Initial Setup | ||
| - Launching Code | ||
| - Code Structure and Documentation | ||
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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 | ||
| TODO: add explanations for what each software is for | ||
| - 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 | ||
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| ### Git | ||
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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 | ||
| - 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. | ||
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| ## 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. | ||
| ## 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? | ||
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| ### Set up repo in WSL TODO: again, do we actually need 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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| ### TODO: this is setup for MacOS | ||
| ### 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). | ||
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| ### Clone | ||
| - In your terminal type: `$ git clone [email protected]:CMU-Robotics-Club/RoboBuggy.git`. | ||
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| ## Initial Setup | ||
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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 find in github: code -> local -> Clone SSH. | ||
| -  | ||
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| ### 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: | ||
|
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||
| 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. | ||
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| --- | ||
| ## 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 | ||
| - 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 | ||
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| <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"> | ||
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| - See `rb_ws/src/buggy/launch/sim_2d_2buggies.launch` to view all available launch options | ||
| - The buggy starting positions can be changed using the `sc_start_pos` and `nand_start_pos` arguments (can pass as a key to a dictionary of preset start positions in engine.py, a single float for starting distance along planned trajectory, or 3 comma-separated floats (utm east, utm north, and heading)) | ||
| - 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) | ||
| - 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 | ||
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| ## Foxglove Visualization | ||
| ### 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". | ||
| -  | ||
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@@ -100,16 +75,37 @@ Commands: | |
| - Open Foxglove, choose the third option "start link". | ||
| -  | ||
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| ## X11 Setup | ||
| Instructions: | ||
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| ### X11 Setup (recommended) | ||
| TODO: explain what X11 is for (i think it's only for the manual velocity updater in the sim?) | ||
| - 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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| --- | ||
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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 | ||
| - 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 | ||
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| <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"> | ||
|
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||
| - See `rb_ws/src/buggy/launch/sim_2d_2buggies.launch` to view all available launch options | ||
| - The buggy starting positions can be changed using the `sc_start_pos` and `nand_start_pos` arguments (can pass as a key to a dictionary of preset start positions in engine.py, a single float for starting distance along planned trajectory, or 3 comma-separated floats (utm east, utm north, and heading)) | ||
| - 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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| ### Connecting to and Launching the RoboBuggy | ||
| When launching the buggy: | ||
| - Connect to the Wi-Fi named ShortCircuit. | ||
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@@ -132,3 +128,13 @@ When shutting down the buggy: | |
| `$ exit` | ||
| - Shutdown the ShortCircuit computer | ||
| `$ sudo shutdown now` | ||
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| ## Documentation | ||
| ### 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) | ||
| - 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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