Some basic readme for the autonomy components.

2024-02-15 13:36:05 -05:00 · 2024-02-15 13:36:05 -05:00 · 2f7ab2edb1
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@ -53,3 +53,123 @@ catkin config -DCMAKE_BUILD_TYPE=Release -DSIM=0 -DKIN=1
 catkin build
 ````

+## Autonomy Stack Notes:
+
+1. Based on the robot launch its respective launch file from the rover_launch ros pkg. 
+### Optimus
+```
+roslaunch rover_launch rover_optimus.launch 
+```
+### Jean rover
+```
+roslaunch rover_launch rover_agx.launch
+```
+### Spot 
+```
+sudo route add -net 192.168.50.0/24 gw 192.168.1.3 # Route to the robot not setup yet, so do this to communicate with the robot.
+roslaunch rover_launch spot.launch
+```
+2. Use a computer with valid ROS installation to act as a base station, on the base station launch the 
+base station launch script. Make sure you have a ps4 joystick paired or connected via USB for control.
+
+**Note: Make sure the IP of the robot and your Ip are correct in the script**
+
+Get to the location of the script
+
+```
+cd src/rover_launch/launch_scripts
+```
+
+### Optimus
+```
+bash bash_optimus.sh
+```
+
+### Jean rover
+```
+bash bash_tars.sh
+```
+### Spot 
+```
+bash bash_spot.sh
+```
+Now one should be able to visualize the autonomy module components (pointcloud, images, tf, etc.),
+and control the robot manualy based on the commands below.
+
+### Local Planner Joystick Mapping
+
+```
+# Teleop configuration for PS4 joystick.
+# Left thumb-stick up/down/left/right for forward/backward translation
+# Right thumb-stick left/right for yaw
+# Left shoulder button for obstacle enabled 
+# Right shoulder button for obstacle disabled
+#
+#          L1                                       R1
+#          L2                                       R2
+#       _=====_                                  _=====_
+#      / _____ \                                / _____ \
+#    +.-'_____'-.------------------------------.-'_____'-.+
+#   /   |     |  '.        S O N Y           .'  |  _  |   \
+#  / ___| /|\ |___ \                        / ___| /_\ |___ \      (Y)
+# / |      |      | ;                      ; | _         _ ||
+# | | <---   ---> | |                      | ||_|       (_)||  (X)     (B)
+# | |___   |   ___| ;                      ; |___       ___||
+# |\    | \|/ |    /  _      ____      _   \    | (X) |    /|      (A)
+# | \   |_____|  .','" "',  (_PS_)  ,'" "', '.  |_____|  .' |
+# |  '-.______.-' /       \        /       \  '-._____.-'   |
+# |               |  LJ   |--------|  RJ   |                |
+# |              /\       /        \       /\               |
+# |             /  '.___.'          '.___.'  \              |
+# |            /                              \             |
+#  \          /                                \           /
+#   \________/                                  \_________/
+#
+#
+# BUTTON         Function
+#   L1             Disable Obstacles
+#   L2             Not defined
+#   R1             Enable Obstacles
+#   R2             Not defined
+#   A              Stop enable
+#   B              Stop release
+#   X              Manual control
+#   Y              Autonomy control
+#
+#    AXIS        Value
+# Left Horiz.      Not defined
+# Left Vert.       Forward/Backward
+# Right Horiz.     Yaw
+# Right Vert.      Not defined
+```
+
+### Exploration planning 
+
+Start the exploration using the following commands by calling the rc cmd topic.
+
+```
+rosservice call /buzzcmd "{broadcast: false, command: 1, confirmation: 0, param1: 0.0, param2: 0.0, param3: 0.0,
+  param4: 0.0, param5: 0.0, param6: 0.0, param7: 0.0}"
+```
+
+The command can be replaced with any of the following to switch the state of the robot: 
+```
+No_cmd = 0
+Turnoff_cmd = 21
+Explore_cmd = 1
+Home_cmd = 2
+Wp_cmd = 3
+Find_object_cmd = 4 # Not Implemented
+Sit_cmd = 5
+Stand_cmd = 6
+Dance_cmd = 7 # Not Implemented
+all_robots_explore_cmd = 8 # Not Implemented
+all_robots_home_cmd = 9 # Not Implemented
+```
+### Troubleshooting
+
+1. Robot too close to Obstacles: If the robot gets too close the planner states clear the space around the robot. Ideally one can take back control and move the robot a little bit to resolve the warning and re-enable exploration.
+2. Planner unable to find feasible path: Either try moving the robot, switch to turnedoff and back to explore, Move the robot a bit in the prefered direction and switch state -> turnedoff -> explore.
+3. Robot connection bad: Restart the communication hub radios `radio0` from luci.
+4. Rover driver not starting (ROSBuzz complaining Waiting for pose): check if the can bus is up and sending data using: `candump can0`, if not bring it up and using `bringup can` script from the driver package. Some robots have a service setup check sudo systemctl status bringupcan.service
+5. Vector nav driver not starting: check the /dev/vectornav or /dev/USB0 is there based on the device.