Merge branch 'main' into samanvis/readme_updates

README.md

@@ -25,9 +25,10 @@ A complete re-write of the old RoboBuggy. This code was run for RD23, RD24 and R
 - Installation instructions here: https://foxglove.dev/
 
 ### VSCode
+- https://code.visualstudio.com/download
 
 ### Git
-
+- https://git-scm.com/downloads
 
 ### Install Softwares: WSL, Ubuntu
 - Go to Microsoft Store to install "Ubuntu 20.04.6 LTS". TODO: is this actually necessary?
@@ -37,10 +38,18 @@ A complete re-write of the old RoboBuggy. This code was run for RD23, RD24 and R
 - 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).
 
-### TODO: this is setup for MacOS
+
+## 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" 
+
 ### 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
+- 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).
 
 
@@ -61,6 +70,7 @@ This is so you can edit our codebase locally, and sync your changes with the res
 - ![image](https://github.com/CMU-Robotics-Club/RoboBuggy2/assets/116482510/66965d34-502b-4130-976e-1419c0ac5f69)
 
 
+
 ### 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.).
@@ -114,7 +124,7 @@ Then `$ cd RoboBuggy2`
 (wait until no longer prints “waiting for covariance to be better”)
 
 When launching NAND:
-- WORK IN PROGRESS
+- Ask software lead (WIP)
 
 When shutting down the buggy:
 -	Stop roslauch
@@ -126,7 +136,7 @@ When shutting down the buggy:
 
 ## Documentation
 ### Infrastructure Documentation
-WORK IN PROGRESS
+Ask Software Lead (WIP)
 
 ### Simulator notes
 - Longitude + Latitude for Foxglove visualization on map: `/state/pose_navsat` (sensor_msgs/NavSatFix)
@@ -137,4 +147,4 @@ Commands:
 - Velocity: `/buggy/velocity` in m/s (std_msgs/Float64)
 
 ### Auton Logic
-WORK IN PROGRESS
+Ask someone with experience (WIP)

camera.py

@@ -0,0 +1,70 @@
+########################################################################
+#
+# Copyright (c) 2022, STEREOLABS.
+#
+# All rights reserved.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+# A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+# OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+# SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+# LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+# DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+# THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+# (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+# OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+#
+########################################################################
+
+import sys
+from signal import signal, SIGINT
+import argparse
+
+
+import pyzed.sl as sl
+
+cam = sl.Camera()
+
+#Handler to deal with CTRL+C properly
+def handler(signal_received, frame):
+    cam.disable_recording()
+    cam.close()
+    sys.exit(0)
+
+signal(SIGINT, handler)
+
+def main():
+
+    init = sl.InitParameters()
+    init.depth_mode = sl.DEPTH_MODE.NONE # Set configuration parameters for the ZED
+
+    status = cam.open(init)
+    if status != sl.ERROR_CODE.SUCCESS:
+        print("Camera Open", status, "Exit program.")
+        exit(1)
+
+    recording_param = sl.RecordingParameters(opt.output_svo_file, sl.SVO_COMPRESSION_MODE.H264) # Enable recording with the filename specified in argument
+    err = cam.enable_recording(recording_param)
+    if err != sl.ERROR_CODE.SUCCESS:
+        print("Recording ZED : ", err)
+        exit(1)
+
+    runtime = sl.RuntimeParameters()
+    print("SVO is Recording, use Ctrl-C to stop.") # Start recording SVO, stop with Ctrl-C command
+    frames_recorded = 0
+
+    while True:
+        if cam.grab(runtime) == sl.ERROR_CODE.SUCCESS : # Check that a new image is successfully acquired
+            frames_recorded += 1
+            print("Frame count: " + str(frames_recorded), end="\r")
+
+if __name__ == "__main__":
+    parser = argparse.ArgumentParser()
+    parser.add_argument('--output_svo_file', type=str, help='Path to the SVO file that will be written', required= True)
+    opt = parser.parse_args()
+    if not opt.output_svo_file.endswith(".svo") and not opt.output_svo_file.endswith(".svo2"):
+        print("--output_svo_file parameter should be a .svo file but is not : ",opt.output_svo_file,"Exit program.")
+        exit()
+    main()

docker_auton/Dockerfile

@@ -1,8 +1,8 @@
-FROM nvidia/cuda:11.6.2-base-ubuntu20.04 as CUDA
+# FROM nvidia/cuda:11.6.2-base-ubuntu20.04 as CUDA
 
 FROM osrf/ros:noetic-desktop-full-focal
 
-COPY --from=CUDA /usr/local/cuda /usr/local/
+# COPY --from=CUDA /usr/local/cuda /usr/local/
 
 
 RUN apt update
@@ -16,10 +16,11 @@ RUN apt-get install -y -qq \
   ros-noetic-foxglove-bridge \
   ros-noetic-microstrain-inertial-driver \
   ros-noetic-realsense2-camera \
-  ros-noetic-realsense2-description
+  ros-noetic-realsense2-description \
+  ros-${ROS_DISTRO}-mavros ros-${ROS_DISTRO}-mavros-extras ros-${ROS_DISTRO}-mavros-msgs
 
 # Run this now to cache it separately from other requirements
-COPY cuda-requirements_TEMP_DO_NOT_EDIT.txt cuda-requirements.txt
+# COPY cuda-requirements_TEMP_DO_NOT_EDIT.txt cuda-requirements.txt
 # RUN pip3 install -r cuda-requirements.txt
 
 

docs/architecture/node_interactions.md

@@ -0,0 +1,64 @@
+# ROS Node Interaction Document
+## Scope
+The purpose of this file is to descirbe the architecture of the RD25 stack from a ROS node level. This document should be updated whenever any ROS topics are added, removed or modified.
+
+## Viewing On VSCode
+Install `bierner.markdown-mermaid` from the extension marketplace to render the charts in VSCode markdown preview.
+
+## List of topics
+| Topic Name | Type                    | is custom message  |
+| ---------- | ----------------------- | ------------------ |
+| ego/state  | BuggyState              | yes |
+| other_buggy/state | BuggyState       | yes |
+| ego/trajectory | BuggyTrajectory     | yes |
+| ego/steering_cmd | [Float64](https://docs.ros.org/en/melodic/api/std_msgs/html/msg/Float64.html) | no |
+| add new topic here | | |
+
+## ROS Nodes Graph
+Auton Loop [Sequence Diagram](https://en.wikipedia.org/wiki/Sequence_diagram#:~:text=A%20sequence%20diagram%20shows%2C%20as,order%20in%20which%20they%20occur.)
+
+```mermaid
+sequenceDiagram
+A->>B: "some/topic"
+```
+
+means A publishes a message of `some/topic` and B receives the message.
+
+```mermaid
+sequenceDiagram
+    participant I as Ego State Estimator Node
+    participant P as Planner Node
+    participant C as Controller Node
+    participant S as Firmware Comms Node
+
+    box Grey HBK 3DM-GQ7 INS
+        participant I
+    end
+
+    box Purple Auton Core
+        participant P
+        participant C
+    end
+
+    box Blue Communication with Sensors, Actuators and Other Buggy
+        participant S
+    end
+
+    loop 100hz
+        I->>P: "ego/state"
+        I->>C: "ego/state"
+    end
+
+    loop 10hz
+        S->>P: "other_buggy/state"
+    end
+
+    loop 10hz
+        P->>C: "ego/trajectory"
+    end
+
+    loop 100hz
+        C->>S: "ego/steering_cmd"
+    end
+```
+

python-requirements.txt

@@ -1,4 +1,5 @@
 matplotlib==3.1.2
+NavPy==1.0
 numba==0.58.0
 numpy<1.21.0
 osqp==0.6.3