### Clone the package
```
git clone http://git.mistlab.ca/vvaradharajan/mist_ws.git
```

# Dependencies to install
```
sudo apt-get install python-catkin-tools python-wstool ros-kinetic-cmake-modules protobuf-compiler autoconf ros-kinetic-mavros* ros-kinetic-tf* \
ros-kinetic-rviz ros-kinetic-cv-bridge ros-kinetic-image-geometry ros-kinetic-pcl-* ros-kinetic-octomap* ros-kinetic-image-proc \
ros-kinetic-nmea-comms ffmpeg libusb-1.0-0-dev libsdl2-dev
```
# Setting up the bat0 phy interface
PLEASE SET THIS UP BEFORE ATTEMPTING TO USE BATMAN NODE.
Please refer to batman-README.md

# DJI M300
This workspace includes relevant packages to run [rosbuzz](https://github.com/MISTLab/ROSBuzz) with the [DJI OSDK](https://github.com/dji-sdk/Onboard-SDK-ROS) on the M300 drones.

The workspace has been tested in Ubuntu 16.04 and ROS Kinetic.

### Setup the workspace
```
cd mist_ws
wstool init
wstool merge packages_https_m300_batman.rosinstall
wstool update
```

### Troubleshooting
* In case of permission error, make sure to follow the [permission](https://github.com/dji-sdk/Onboard-SDK-ROS#3permission) section to have read/write access for the uart communication.


# Spiri

### Setup the workspace
```
cd mist_ws
wstool init
wstool merge packages_https_spiri_batman.rosinstall
wstool update
```

# DJI M100

# Khepera IV

# Spot


### Build the whole workspace
```
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.