Cognipilot: Prepare MR-CANHUBK344

Setting up B3RB with CogniPilot environment software

Introduction

The definitive guide is the CogniPilot website, these sub-pages are only for additional details and guidance.

Prepare MR-CANHUBK344 real time vehicle controller

Follow this section of CogniPilot to prepare Cognipilot-Cerebri on MR-CANHUBK344 : https://airy.cognipilot.org/reference_systems/b3rb/setup/

https://airy.cognipilot.org/reference_systems/b3rb/about/

This will:

1. Update MR-CANHUBK344 with the Zephyr+Cognipilot-Cerebri image. (Cerebri is the application, Zephyr is the RTOS. They are flashed simultaneously using a prepared image.)

First connect MR-CANHUBK344 to J-LinkEDU Mini

You need to follow this guide to correctly flash Cerebri onto the board: Connect J-Link EDU Mini to MR-CANHUBK344 with DCD-LZ adapt board

Software Setup for MR-CANHUBK344

The following steps must be performed after you have prepared your Linux Development PC.

cd ~/cognipilot/ws/cerebri
west update
cd ~/cognipilot/ws/cerebri/app/b3rb
west build -b mr_canhubk3 -p
west flash

ros2 launch b3rb_bringup robot.launch.py

Next Steps

At ths point you are ready to use the MR-B3RB.

You can log into the NavQPlus and even into the MR-CANHUBK344 running CogniPilot/Zephyr

You can run ROS SIL or "real hardware" examples using RVIZ or Foxglove as a control station.

The vehicle is capable of being safely armed through several steps and autonomously navigating to a position and pose as specified/pointed to on the control station software.

Execution

Software Procedure

MR-CANHUBK344

When booted, MR-CANHUBK344 should display the following CogniPilot logo and welcome screen on the console.

uart:~$
                                          ▄▄▄▄▄▄▄▄
         ▄▄▄▄▄ ▄▄▄▄▄                    ▀▀▀▀▀▀▀▀▀
     ▄███████▀▄██████▄   ▀█████████████████████▀
  ▄██████████ ████████ ▄   ▄▄▄▄▄▄▄▄▄▄▄▄▄▄▄▄▄▄
 ███████████▀ ███████▀ ██   ▀▀▀▀▀▀▀▀▀▀▀▀▀▀▀▀
█████████▀   ▀▀▀▀▀▀▀▀ ████   ▀███████████▀
▀█████▀ ▄▄███████████▄ ████   ▄▄▄▄▄▄▄▄▄
  ▀▀▀ ███████████████▀ ████   ▀▀▀▀▀▀▀▀
       ▀▀█████▀▀▀▀▀▀  ▀▀▀▀   ▄█████▀
               ████████▀    ▄▄▄
               ▀███▀       ▀▀▀
                ▀▀
╔═══╗╔═══╗╔═══╗╔═╗ ╔╗╔══╗╔═══╗╔══╗╔╗   ╔═══╗╔════╗
║╔═╗║║╔═╗║║╔═╗║║║║ ║║╚╣╠╝║╔═╗║╚╣╠╝║║   ║╔═╗║║╔╗╔╗║
║║ ╚╝║║ ║║║║ ╚╝║║╚╗║║ ║║ ║║ ║║ ║║ ║║   ║║ ║║╚╝║║╚╝
║║   ║║ ║║║║╔═╗║╔╗╚╝║ ║║ ║╚═╝║ ║║ ║║   ║║ ║║  ║║
║║ ╔╗║║ ║║║║╚╗║║║╚╗║║ ║║ ║╔══╝ ║║ ║║ ╔╗║║ ║║  ║║
║╚═╝║║╚═╝║║╚═╝║║║ ║║║╔╣╠╗║║   ╔╣╠╗║╚═╝║║╚═╝║ ╔╝╚╗
╚═══╝╚═══╝╚═══╝╚╝ ╚═╝╚══╝╚╝   ╚══╝╚═══╝╚═══╝ ╚══╝
       ┏━━━┓┏━━━┓┏━━━┓┏━━━┓┏━━┓ ┏━━━┓┏━━┓
       ┃┏━┓┃┃┏━━┛┃┏━┓┃┃┏━━┛┃┏┓┃ ┃┏━┓┃┗┫┣┛
       ┃┃ ┗┛┃┗━┓ ┃┗━┛┃┃┗━┓ ┃┗┛┗┓┃┗━┛┃ ┃┃
       ┃┃ ┏┓┃┏━┛ ┃┏┓┏┛┃┏━┛ ┃┏━┓┃┃┏┓┏┛ ┃┃
       ┃┗━┛┃┃┗━━┓┃┃┃┗┓┃┗━━┓┃┗━┛┃┃┃┃┗┓┏┫┣┓
       ┗━━━┛┗━━━┛┗┛┗━┛┗━━━┛┗━━━┛┗┛┗━┛┗━━┛

Errata: If this image doesn't come up when you boot up the board, restart the board several times (by turning it off and on) till this image shows and you can be sure that the board MR-CANHUBK344 is awake and active. Note this issue has been addressed in Zephyr code and should no longer present itself. Please ensure you have the latest version of CANHUBK344 code.

Within a few seconds, the red light on the T1 Ethernet port on both the boards should light up.

NavQPlus

ros2 launch b3rb_bringup robot.launch.py

Links

The developer guide for Cognipilot can be found here: https://cognipilot.org/releases/airy/getting_started/install

Installation - Dev Guide