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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,144 +1,2 @@ | ||
| # RoboBuggy2 | ||
| 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 and Initial Setup | ||
| - Launching Code | ||
| - Infrastructure Documentation | ||
| - Code Structure and Documentation | ||
|
|
||
|
|
||
| --- | ||
| ## Installation and Initial Setup | ||
| ### Necessary + Recommended Software | ||
| - Docker | ||
| - Foxglove | ||
| - VSCode (recommended) | ||
| - Git (recommended) | ||
|
|
||
|
|
||
| ### Docker | ||
| - Installation instructions here: https://docs.docker.com/get-docker/ | ||
|
|
||
| ### Foxglove | ||
| - Installation instructions here: https://foxglove.dev/ | ||
|
|
||
| ### VSCode | ||
| - https://code.visualstudio.com/download | ||
|
|
||
| ### Git | ||
| - https://git-scm.com/downloads | ||
|
|
||
| ### Install Softwares: WSL, Ubuntu (Windows only) | ||
| - Go to Microsoft Store to install "Ubuntu 20.04.6 LTS". | ||
|
|
||
| ### 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). | ||
|
|
||
|
|
||
| ### Apple Silicon Mac Only: | ||
| - 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 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. | ||
|
|
||
|
|
||
| ### 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". | ||
| -  | ||
|
|
||
|
|
||
|
|
||
| ### 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. | ||
|
|
||
| ### 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 | ||
| - 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 | ||
| - 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. | ||
|
|
||
| ### 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 | ||
| `$ ssh [email protected]` | ||
| Then `$ cd RoboBuggy2` | ||
| - Setup the docker | ||
| `$ ./setup_prod.sh` (Utilize the `--no-gpu`, `--force-gpu`, and `--run-testing` flags as necessary.) | ||
| - 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` | ||
| (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)` | ||
| - Leave the docker container | ||
| `$ 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) | ||
| # robobuggy-software | ||
| A refactor of RoboBuggy2 |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,144 @@ | ||
| # RoboBuggy2 | ||
| 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 and Initial Setup | ||
| - Launching Code | ||
| - Infrastructure Documentation | ||
| - Code Structure and Documentation | ||
|
|
||
|
|
||
| --- | ||
| ## Installation and Initial Setup | ||
| ### Necessary + Recommended Software | ||
| - Docker | ||
| - Foxglove | ||
| - VSCode (recommended) | ||
| - Git (recommended) | ||
|
|
||
|
|
||
| ### Docker | ||
| - Installation instructions here: https://docs.docker.com/get-docker/ | ||
|
|
||
| ### Foxglove | ||
| - Installation instructions here: https://foxglove.dev/ | ||
|
|
||
| ### VSCode | ||
| - https://code.visualstudio.com/download | ||
|
|
||
| ### Git | ||
| - https://git-scm.com/downloads | ||
|
|
||
| ### Install Softwares: WSL, Ubuntu (Windows only) | ||
| - Go to Microsoft Store to install "Ubuntu 20.04.6 LTS". | ||
|
|
||
| ### 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). | ||
|
|
||
|
|
||
| ### Apple Silicon Mac Only: | ||
| - 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 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. | ||
|
|
||
|
|
||
| ### 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". | ||
| -  | ||
|
|
||
|
|
||
|
|
||
| ### 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. | ||
|
|
||
| ### 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 | ||
| - 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 | ||
| - 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. | ||
|
|
||
| ### 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 | ||
| `$ ssh [email protected]` | ||
| Then `$ cd RoboBuggy2` | ||
| - Setup the docker | ||
| `$ ./setup_prod.sh` (Utilize the `--no-gpu`, `--force-gpu`, and `--run-testing` flags as necessary.) | ||
| - 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` | ||
| (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)` | ||
| - Leave the docker container | ||
| `$ 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) |
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