diff --git a/README.md b/README.md index b0fd54b..d92d142 100755 --- a/README.md +++ b/README.md @@ -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. + ---- ## Table of Contents - - Installation - - Quickstart - - Development + - Installation and Initial Setup + - Launching Code + - Infrastructure Documentation + - Code Structure and Documentation --- -## 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) + ### Docker -- You will need [Docker](https://docs.docker.com/get-docker/) installed. +- Installation instructions here: https://docs.docker.com/get-docker/ -### 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/ -### 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) +### VSCode +- https://code.visualstudio.com/download +### Git +- https://git-scm.com/downloads -### 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". - 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). -## Installation (for MacOS) -### Install Softwares: Docker, Foxglove -- Go install Foxglove https://foxglove.dev/. -- You will need [Docker](https://docs.docker.com/get-docker/) installed. ### 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" ### 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). -### Clone -- In your terminal type: `$ git clone git@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) +### 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. -### 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 +### 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) ---- -## Open Docker + + +### 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. + + +## 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. -## 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. + +### 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. -### 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. - ---- -### 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 @@ -123,9 +114,12 @@ 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: +- Ask software lead (WIP) + When shutting down the buggy: - Stop roslauch `$ ^C (Ctrl+C)` @@ -133,3 +127,18 @@ When shutting down the buggy: `$ exit` - Shutdown the ShortCircuit computer `$ sudo shutdown now` + +## Documentation +### Infrastructure Documentation +Ask Software Lead (WIP) + +### 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) + +### Auton Logic +Ask someone with experience (WIP)