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| # FROM nvidia/cuda:11.6.2-base-ubuntu20.04 as CUDA | ||
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| FROM ros:humble | ||
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| # COPY --from=CUDA /usr/local/cuda /usr/local/ | ||
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| RUN apt update | ||
| RUN apt-get install -y -qq \ | ||
| python3-pip \ | ||
| python3-tk \ | ||
| vim git tmux tree sl htop x11-apps | ||
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| 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 | ||
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| COPY python-requirements.txt python-requirements.txt | ||
| RUN pip3 install -r python-requirements.txt | ||
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| 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 | ||
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| # RUN echo "exec firefox" > ~/.xinitrc && chmod +x ~/.xinitrc | ||
| # CMD ["x11vnc", "-create", "-forever"] | ||
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| # add mouse to tmux | ||
| RUN echo 'set -g mouse on' >> ~/.tmux.conf |
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| # 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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| ## Table of Contents | ||
| - Installation and Initial Setup | ||
| - Launching Code | ||
| - Infrastructure Documentation | ||
| - Code Structure and Documentation | ||
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| --- | ||
| ## Installation and Initial Setup | ||
| ### Necessary + Recommended Software | ||
| - Docker | ||
| - Foxglove | ||
| - VSCode (recommended) | ||
| - Git (recommended) | ||
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| ### Docker | ||
| - Installation instructions here: https://docs.docker.com/get-docker/ | ||
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| ### Foxglove | ||
| - Installation instructions here: https://foxglove.dev/ | ||
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| ### VSCode | ||
| - https://code.visualstudio.com/download | ||
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| ### Git | ||
| - https://git-scm.com/downloads | ||
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| ### Install Softwares: WSL, Ubuntu (Windows only) | ||
| - Go to Microsoft Store to install "Ubuntu 20.04.6 LTS". | ||
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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). | ||
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| ### Apple Silicon Mac Only: | ||
| - In Docker Desktop App: go to settings -> general and turn on "Use Rosetta for x86/amd64 emulation on Apple Silicon" | ||
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| ### 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). | ||
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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 the URL or can be found above: code -> local -> Clone HTTPS. | ||
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| ### 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". | ||
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| ### 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. | ||
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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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| ### 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. | ||
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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 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 nuc@192.168.1.217` | ||
| 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”) | ||
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| When launching NAND: | ||
| - Ask software lead (WIP) | ||
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| When shutting down the buggy: | ||
| - Stop roslauch | ||
| `$ ^C (Ctrl+C)` | ||
| - Leave the docker container | ||
| `$ exit` | ||
| - Shutdown the ShortCircuit computer | ||
| `$ sudo shutdown now` | ||
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| ## Documentation | ||
| ### Infrastructure Documentation | ||
| Ask Software Lead (WIP) | ||
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| ### 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) | ||
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| ### Auton Logic | ||
| Ask someone with experience (WIP) |
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