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SMaRC Bringups

A pile of launch files and bash scripts.

Example use: ros2 run smarc_bringups sam_bringup.sh

The general structure and naming of launchfiles should resemble the folder structure of the smarc2 repository.

Scripts

This is where the bringup bash scripts live. We use tmux to create tabs and launch things in, for all the reasons tmux is good for.

In general, these bash scripts should take minimal number of arguments, if any. If a large number of args are needed, maybe use a config.yaml filename to pass as an arg instead.

sam_bringup.sh

Launches everything related to SAM. Add the following lines to your .bashrc and restart your terminal.

export LOCAL_ROBOT_NAME=<your sam name>

# Local MQTT Broker with mosquitto
export LOCAL_MQTT_BROKER_IP=<your local ip>
export LOCAL_MQTT_BROKER_PORT=<your local port>

# WARA-PS MQTT Broker
#export LOCAL_MQTT_BROKER_IP=20.240.40.232·
#export LOCAL_MQTT_BROKER_PORT=1884

This allows us to change the bringup as we see fit without having to worry about individual setups regarding MQTT and the robot name. If you want to use the WARA-PS MQTT Broker instead, use uncomment the last two lines instead.

In the beginning of the script, you can set whether you're on SAM or not.

dji_bringup.sh

Launches everything related to DJI drones and the ALARS project.

  • Required manual setup: (TODO declare dependencies etc.)

    • messages/psdk_interfaces
    • drivers/nau7802_ros2_driver (requires pip3 install cedargrove-nau7802 circup)
    • drivers/z1_pro_driver (requires apt install geographiclib-tools libgeographic-dev ros-humble-compressed-image-transport)
    • auv_yolo_detector has requirements that need special care, check its readme!
    • rosboard: (cd ~/colcon_ws/src && git clone https://github.com/dheera/rosboard, pip3 install tornado simplejpeg, ros2 run rosboard rosboard_node)
    • rosshow: (cd ~/colcon_ws/src && git clone https://github.com/dheera/rosshow)
    • Set discovery server stuff as described in scripts/README.md ## ROS2 over a VPN

eport serial2usb udev rules

udevadm info -a -n /dev/ttyUSB0

find the serial of the serial2usb adapter, put it in /etc/udev/rules.d/XXXX.rules

SUBSYSTEM=="tty", ATTRS{serial}=="A50285BI", SYMLINK+="eport", OWNER="alars", GROUP="alars", MODE="0660"

then there'll be dev/eport as a device that links to that usb2serial

Camera udev rules

Since we have multiple cams, of different kinds, we have udev rules setup in the jetson to give them fixed device symlinks under ls /dev: Example:

> lsusb
...
Bus 001 Device 019: ID 2e1a:0003 Insta Insta360 X4
...

> apt install v4l-utils

> v4l2-ctl --list-devices
NVIDIA Tegra Video Input Device (platform:tegra-camrtc-ca):
	/dev/media0

Insta360 X4: Insta360 X4 (usb-3610000.usb-4.4):
	/dev/video0
	/dev/video1
	/dev/media1

> sudo vim /etc/udev/rules.d/99-insta360.rules

SUBSYSTEM=="video4linux", ATTRS{idVendor}=="2e1a", ATTRS{idProduct}=="0003", ATTR{index}=="0", SYMLINK+="insta360x4"
SUBSYSTEM=="video4linux", ATTRS{idVendor}=="2e1a", ATTRS{idProduct}=="0003", ATTR{index}=="1", SYMLINK+="insta360x4_meta"
SUBSYSTEM=="media", ATTRS{idVendor}=="2e1a", ATTRS{idProduct}=="0003", SYMLINK+="insta360x4_media"

The above makes /dev/insta360x4 point to the video stream of the cam, independently of connection timing/port/other cams etc.

TMUX Cheatsheet

  • C-x means "press control and x" at the same time. If its C-X, then its "Control Shift x".
  • C-b, d means "Control+B, release everything, d".
  • List sessions: tmux ls
  • Attach to a session: tmux attach -t <SESSION_NAME>. Can be shortened to tmux att -t sam for example for a session named sam0_bringup
  • Detach from a session: C-b, d
  • Change between windows(tabs): C-b, <NUM>
  • Scroll in a window: C-b [ and then arrows/pg up etc. q to quit scroll mode.
  • Kill tmux server (and all the programs running in all sessions): tmux kill-server. This is the ultimate "cleanup". Beware of using this on the real robot!