Repo setup

.github/workflows/pylint.yml

@@ -31,5 +31,5 @@ jobs:
           echo "No files to lint"
         else
           echo "Running Linter!"
-          pylint --rc-file=/home/runner/work/RoboBuggy2/RoboBuggy2/.github/workflows/.pylintrc $tmp_pfiles
+          pylint --rc-file=/home/runner/work/robobuggy-software/robobuggy-software/.github/workflows/.pylintrc $tmp_pfiles
         fi

.gitignore

@@ -3,16 +3,6 @@ rb_ws/bags
 .docker-compose.yml.un~
 .python-requirements.txt.un~
 docker-compose.yml~
-python-requirements.txt~
 *TEMP_DO_NOT_EDIT.txt
-rb_ws/src/buggy/bags/2023-02-11-11-38-44.bag
-rb_ws/src/buggy/bags/2023-02-11-12-00-49.bag
-rb_ws/src/buggy/bags/2023-02-11-12-01-12.bag
-rb_ws/src/buggy/bags/2023-02-12-11-39-27.bag
-rb_ws/src/buggy/bags/2023-02-18-02-23-26.bag
-rb_ws/src/buggy/bags/2023-02-19-11-21-56.bag
-rb_ws/src/buggy/bags/2023-02-19-11-27-49.bag
-rb_ws/src/buggy/bags/2023-02-19-11-38-48.bag
-rb_ws/src/buggy/bags/*
-rb_ws/src/buggy/launch/.main.launch.swp                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        
+rb_ws/src/buggy/bags/*                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                   
 *.bag

Dockerfile

@@ -0,0 +1,38 @@
+# FROM nvidia/cuda:11.6.2-base-ubuntu20.04 as CUDA
+
+FROM ros:humble
+
+# COPY --from=CUDA /usr/local/cuda /usr/local/
+
+
+RUN apt update
+RUN apt-get install -y -qq \
+    python3-pip \
+    python3-tk \
+    vim git tmux tree sl htop x11-apps
+
+RUN apt-get install -y -qq \
+    ros-${ROS_DISTRO}-foxglove-bridge \
+    ros-${ROS_DISTRO}-microstrain-inertial-driver \
+    ros-${ROS_DISTRO}-mavros ros-${ROS_DISTRO}-mavros-extras ros-${ROS_DISTRO}-mavros-msgs
+
+COPY python-requirements.txt python-requirements.txt
+RUN pip3 install -r python-requirements.txt
+
+
+RUN echo 'source "/opt/ros/humble/setup.bash" --' >> ~/.bashrc && \
+    echo 'cd rb_ws' >> ~/.bashrc && \
+    echo 'colcon build --symlink-install' >> ~/.bashrc && \
+    echo 'source install/local_setup.bash' >> ~/.bashrc
+# RUN 	echo 'source "/opt/ros/humble/setup.bash" --' >> ~/.bashrc && \
+#     echo 'cd rb_ws' >> ~/.bashrc && \
+#     echo 'catkin_make >/dev/null' >> ~/.bashrc && \
+#     echo 'source devel/setup.bash' >> ~/.bashrc
+
+
+
+# RUN echo "exec firefox" > ~/.xinitrc && chmod +x ~/.xinitrc
+# CMD ["x11vnc", "-create", "-forever"]
+
+# add mouse to tmux
+RUN echo 'set -g mouse on' >> ~/.tmux.conf

README.md

@@ -1,13 +1,10 @@
-# RoboBuggy2
-A complete re-write of the old RoboBuggy. This code was run for RD23, RD24 and RD25, on both NAND and Short Circuit.
+# robobuggy-software
+A complete re-write of the old RoboBuggy2. This code was run for 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
@@ -31,34 +28,24 @@ A complete re-write of the old RoboBuggy. This code was run for RD23, RD24 and R
 - 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).
+- Go to Microsoft Store to install "Ubuntu 22.04 LTS".
 
 
 ### 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`.
+- In your terminal type: `$ git clone https://github.com/CMU-Robotics-Club/robobuggy-software.git`.
 - The clone link above is the URL or can be found above: code -> local -> Clone HTTPS.
 
 
-### Foxglove Visualization
+### Foxglove Visualization (WIP)
 - 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)
+- Go to repository 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".
@@ -77,9 +64,9 @@ This is so you can edit our codebase locally, and sync your changes with the res
 
 ## Launching Code
 ### Open Docker
-- Use `cd` to change the working directory to be `RoboBuggy2`
+- Use `cd` to change the working directory to be `robobuggy-software`
 - 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`.
+- Then you can go in the docker container using the `docker exec -it robobuggy-software-main-1 bash`.
 - When you are done, type Ctrl+C and use `$exit` to exit.
 
 ### ROS
@@ -89,7 +76,7 @@ This is so you can edit our codebase locally, and sync your changes with the res
         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
+### 2D Simulation (WIP - Doesn't Exist)
 - 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
@@ -127,18 +114,3 @@ 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)

README_ROBOBUGGY2.md

@@ -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".
+- ![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 (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)