Carolo Cup 2022 Team

Folderstructure

.
├── docs      # Documentations and third-party documentation tool configuration files
├── messages  # ROS2 GalaXIs custom messages
├── nodes     # GalaXIs ROS2 nodes (Autopilot, Controller Node, ...)
├── scripts   # Useful scripts (start development environment, clang format, ...) 
├── simulation_adapter_messages # ROS2 custom messages for simulation integration
├── test      # Unit tests (disabled)
├── tools     # Useful self-implemented programs for Map Plotting, ...
├── utilities # GalaXIs Library supporting the nodes
├── ...
└── README.md # This README

Getting Started

Setup Development Runtime Environment (GalaXIs docker)

We recommend to use Ubuntu or Manjaro as Operating System
Install Docker: https://docs.docker.com/get-docker/
Clone this repository:
$ git clone git@git.rwth-aachen.de:team_galaxis/carolo-cup-2021.git
(Download and) Start the docker environment as shown here:
$ ./scripts/start_docker --help
Note: Using the update flag, the newest container is downloaded if it is not already existing on your computer.
Note: For Mac and Windows: Make sure the docker container has enough resources. These can be changed in the Docker Desktop App.
Inside the docker container, run ./compile.sh (you may need to run it multiple times for it to succeed)
You can start a node using ./run_exe.sh

Setup Development Coding Environment

Install Visual Studio Code:

Ubuntu (recommended)
- Go to code.visualstudio.com and download the .deb file.
- Install it via: $ sudo dpkg -i <path-to-vscode.deb> (You may have to install additional packages via: $ sudo apt install --fix-missing)
Linux Systems:
# i.e. for Ubuntu/Manjaro

$ sudo snap install --classic code
Recommended useful Extensions for Visual Studio Code: C/C++, CMake Tools, Python, TabNine Autocompletion, Remote - Containers

Setup Simulation Environment (only Linux)

Prerequisites: NVIDIA Container Toolkit
Clone galaxis-simulation repository:
$ git clone git@git.rwth-aachen.de:team_galaxis/galaxis-simulation.git
Build Simulation and Bridge (See README.md of galaxis-simulation repo):
$ cd galaxis-simulation

# build simulation

$ cd simulation

$ ./build_container.sh

# build bridge (for integration into GalaXIs software)

$ cd bridge

$ ./build_container.sh
Start Simulation
$ cd simulation

$ ./start_container.sh

$$ ./start_simulation.sh
Start Bridge
$ cd bridge

$ ./start_container.sh

$$ ./start_bridge.sh
Start SimulationAdapter inside GalaXIs docker in tmux ./run_exe.sh SimulationAdapter
Start RemoteControl inside GalaXIs docker in tmux ./run_exe.sh RemoteControl and have fun! :)

Software Architecture

Documentation

The current doxygen documentation of our C++ code can be found here.

Further useful docs

ROS2 Documentation: https://docs.ros.org/en/eloquent/
ROS2 RCLCPP Eloquent: https://docs.ros2.org/eloquent/api/rclcpp/classrclcpp_1_1Node.html

Marvelmind GPS

Non Invese Architecture vs Inverse A.
- we use non inverse
navigation system manual

Motor Parameter Identification

motor muss in leerlauf sein
batterie ground zuerst connecten
VESC tool verbinden
motor settings
1. general settings
  1. Read motor configuration (damit die grundsätzlichen werte stimmen, sind in Firmware schon richtig eingestellt)
  2. Refresh
  3. FWD (gucken ob die Richtung stimmt) -> zur not inverted [x]
  4. Motor Type -> FOC
  5. Sensort Port Mode -> ABI (A,B, Index Pulse) Encoder
  6. Write Motor Configuration
2. FOC settings
  1. Sensor mode encoder (Encoder muss verbunden sein)
  2. Encoder-Tab -> Detect Encoder (wird die Puls Pins identifizieren)
    - 1.00 A -> dann start detection
    - Ratio muss 7.0 sein 14 Poliger Motor -> 7 Polpaare
    - dann auf apply klicken -> datet die settings up
  3. General FOC Settings
    - [RL] -> Measure resistance and inductance (Parameter müssen danach grün sein)
      - Wenn Parameter rot -> strom ändern um 0.5A (plus oder minus) und wiederholen
    - [Lambda] -> Measure flux linkage (parameter müssen grün sein)
      - Wenn parameter rot -> ERPM um +500 erhöhen
    - Wenn alles grün ist, dann apply
  4. Write motor configuration
jetzt könnte man in experiments testen ob alles funktioniert (Use arrow keys + stream realtime data)
- unten in der leiste kann man RPM zB einstellen und im Plot gucken ob alles passt
- motor halten und irgendwas einstellen -> höherer strom
App Settings
1. General
  - App to use -> UART
2. UART
  - Baudrate 115k
3. write app configuration

Jetson AGX Xavier

NVIDIA Linux Tegra

NVIDIA Tegra Linux Driver Package

STM32

Car

18 zähne kleines ritzel
33 zähne achsritzel
38 zähne große Riemenscheibe (vermutl.)
20 zähne kleine Riemenscheibe (vermutl.)
Übersetzung Vges= 0.0595*Nmotor

ROS 2

Logging
- Reference
Features
ROS 1 Publishing/Subscribing to Images (only if needed)
- ROS 2 without readme
ROS specific Namespace prefix
Intel ROS2 Projects Currently this is not an option, the neural network should do this stuff
cmake apparently has to be compiled with openssl, or else there will be failures with colcon build refer to this link
Lining & Testing
Python Launch Files and managed lifecycle nodes
Create a node in the following way: ros2 pkg create --maintainer-name {your-name} --maintainer-email {your-email} --node-name {node-name} --description "{description}" --build-type ament_cmake --dependencies rclcpp utilities builtin_interfaces std_msgs messages --package_format 3 galaxis_{node-name}_pkg
Send custom message from terminal example: ‘ros2 topic pub -1 /galaxis/qrcodedetection/state messages/msg/QRCodeDetect ’{detected: false}'`

ROS2 Buildtool

SSH/VNC

ssh -p 8001 galaxis@137.226.8.100
Klick here for AGX
systemctl start vncserver to start the vnc server
vncviewer -quality 5 -encodings "copyrect tight hextile zlib corre rre raw" -compresslevel 5 137.226.8.100:9002 with password i********

SSH/RQT

ssh <ip> -XYC -c aes128-ctr

Git Stuff

Jetson TX2

TX2 flashen:
- boot TX2, press&hold recovery button, press reset, release recovery button after 2 seconds
- apply firmware patch from Auvidea in linux_for_tegra folder
- flash jetson with sdkmanager (Jetpack 4.2)
- setup ubuntu system via monitor/mouse/keyboard AND setup WLAN/LAN
- when on loginscreen go back to sdkmanager
- change IP address to one of the IP addresses of WLAN/LAN from jetson
- let sdkmanager flash/install the software
Create a backup image
===============OLD==============
AUVIDEA Board Dreckscheiße
Installations Scheiße FAQ
Jetson Download Center
NVIDIA CUDA Architecture for Jetson TX2
Linux Tegra
Nvidia Tensorflow for jetson

update time on ubuntu system

‘sudo date -s "$(wget -qSO- --max-redirect=0 google.com 2>&1 | grep Date: | cut -d’ ' -f5-8)Z"`
from update time & date from internet
simply change ntp server settings to ntp1.rwth-aachen.de and ntp2.rwth-aachen.de

Format Code

Automatically

$ ./scripts/clang-format.sh /path/to/dir/to/format

Manually

install clang-format (>=9.0.0) and check if .clang-format file is in root folder of this git repo
to format your code run clang-format -i filename.xyz

RealSense

Filter application order: There are no software-imposed constrains that mandate the order in which the filters shall be applied
Order used by realsense library/demos:
Depth Frame >> Decimation Filter

>> Depth2Disparity Transform** -> Spatial Filter >> Temporal Filter >>

>> Disparity2Depth Transform** >> Hole Filling Filter >> Filtered Depth

KITCAR GAZEBO SIMULATION

Clone galaxis-simulation Repo
Build and Start Simulation and Bridge (See README.md of galaxis-simulation repo)
Start SimulationAdapter
Start RemoteControl (have fun)