diff --git a/README.md b/README.md index 6925ce2..ec6562f 100644 --- a/README.md +++ b/README.md @@ -1,83 +1,91 @@ # rover-ros2 -Submodule which includes all ros2 packages for the rover. These are centrally located for modular rover operation. You can use launch files located here to run any module as standalone or as a full-rover relay. +Submodule which includes all ros2 packages for the rover. These are centrally located for modular rover operation. + +You will use this package to launch any module-side ROS2 nodes. +
+#### Table of Contents + +\- \[Software Prerequisites\] \(\#Software\-Pre\-reqs\) + +
## Software Pre-reqs +An acting base station computer will need several things: -The BaseStation computer will need several things. +* ROS2 Humble + * Follow the standard ROS2 humble install process. Linux recommended. + * https://docs.ros.org/en/humble/Installation.html +* Colcon + * `$ sudo apt update` + * `$ sudo apt install python3-colcon-common-extensions` +* Configured Static IP for Ubiquiti bullet (Process varies by OS) + * IP Address: 192.168.1.x + * This can be just about anything not already in use. I recommend something 30-39 + * Net Mask: 255.255.255.0 + * Gateway: 192.168.1.0 -- ROS2 Humble +## Launching with ANCHOR -- Follow the standard ROS2 humble install process. Linux recommended. +ANCHOR (Active Node Controller Hub and Operational Relay) +Allows for launching all nodes on the rover simulataneously. Additionally, all controls will run through the core's NUC and MCU. +
+1. SSH to core + * Core1: `ssh clucky@192.168.1.69` + * Core2: `ssh clucky@192.168.1.70` + * Password: \ +2. Navigate to rover-ros2 workspace + * `cd rover-ros2` +3. Source the workspace + * `source install/setup.bash` +4. Launch ANCHOR + * `ros2 launch rover_launch.py mode:=anchor` -- https://docs.ros.org/en/humble/Installation.html +## Launching as Standalone -- Colcon +For use when running independent modules through their respective computers (pi/NUC) without ANCHOR. -- `$ sudo apt update` +1. SSH to the the module's computer + * Core1: `ssh clucky@192.168.1.69` + * Core2: `ssh clucky@192.168.1.70` + * Arm: `ssh arm@192.168.1.70` + * Bio: \ + * Password: \ +2. Run the main node (this sends commands to the MCU) + * Navigate to the rover-ros2 workspace (location may vary) + * `cd rover-ros2` + * Source the workspace + * `source install/setup.bash` + * Start the node + * ARM: `ros2 launch rover_launch.py mode:=arm` + * CORE: `ros2 launch rover_launch.py mode:=core` + * BIO: `ros2 launch rover_launch.py mode:=bio` -- `$ sudo apt install python3-colcon-common-extensions` +## Running Headless -- Configured Static IP for Ubiquiti bullet +Headless control nodes (for ARM and CORE) allow running of the module on-rover without the operator having ROS2 installed on their machine. You will need a laptop to connect to the pi/NUC in order to launch headless but it can be disconnected after the nodes are spun up. +
+1. SSH to the the module's computer + * Core1: `ssh clucky@192.168.1.69` + * Core2: `ssh clucky@192.168.1.70` + * Arm: `ssh arm@192.168.1.70` + * Password: \ +2. Run the  headless node + * You must have ANCHOR or the module's Standalone node running + * Open a new terminal (SSH'd to the module) + * Navigate to rover-ros2 workspace + * `cd rover-ros2` + * Source the workspace + * `source install/setup.bash` + * Run the node (ensure controller is connected and on x-input mode) + * CORE: `ros2 run core_pkg headless` + * ARM: `ros2 run arm_pkg headless` -- This process will depend on the system, but you'll need this for using the Ubiquiti network with the M2 bullets. - -- Settings: - -- Net Mask: 255.255.255.0 - -- IP Address: 192.168.1.x - -- This can be just about anything, just not ending in 1.20, 1.21, 1.69, or 1.0 - -- Gateway: 192.168.1.0 - - -## Headless Control - - To control the rover without a base station you'll need to run the headless control node. - -- SSH to the the rover from a computer computer over wifi (or connect directly) - -- `ssh clucky@192.168.1.69` - -- Password: spaceiscool639 - -- Run `Ros2 run headless_pkg headless` - - This needs to be done in a separate ssh/shell window from the core rover node - - - -## Running the Rover node - - -- Ensure you're either connected directly to the rover's network switch over ethernet or connected to an M2 bullet which has connection to the rover (red signal lights on) - -- SSH to the the rover from a computer computer over wifi (or connect directly) - -- `ssh clucky@192.168.1.69` - -- Password: spaceiscool639 - -- run `ros2 run core_control_pkg core_control` - - This needs to be done in a separate ssh/shell window from the headless control node (if you're running it) - -- You should see "MCU found" on a serial line - -- If not, you'll get an error it's not found and the program will close. Ensure the teensy is connected via usb to the Nuc - - - -## Connecting the GuliKit Controller (Recommended) - - - -- Connect controller to pc with USB-C - -- Select the "X-Input" control mode (Windows logo) on the controller. - -- Hold the button next to the symbols (windows, android, switch, etc...) - -- You'll need to release the button and press down again to cycle to the next mode +## Connecting the GuliKit Controller +Connecting the GuliKit Controller (Recommended) +* Connect controller to pc with USB-C +* Select the "X-Input" control mode (Windows logo) on the controller. +* Hold the button next to the symbols (windows, android, switch, etc...) +* You'll need to release the button and press down again to cycle to the next mode \ No newline at end of file