Cognipilot: Usage

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.

Introduction

At ths point you are ready to use the MR-B3RB. If you have reviewed the documentation you should now:

• You can log into the NavQPlus console 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.

Operation of ROS-Cognipilot

Software Procedure

MR-CANHUBK344

OPTIONAL: When booted, if you have a console connected, MR-CANHUBK344 will display the following CogniPilot logo and welcome screen on the console.

uart:~$
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       ┃┏━┓┃┃┏━━┛┃┏━┓┃┃┏━━┛┃┏┓┃ ┃┏━┓┃┗┫┣┛
       ┃┃ ┗┛┃┗━┓ ┃┗━┛┃┃┗━┓ ┃┗┛┗┓┃┗━┛┃ ┃┃
       ┃┃ ┏┓┃┏━┛ ┃┏┓┏┛┃┏━┛ ┃┏━┓┃┃┏┓┏┛ ┃┃
       ┃┗━┛┃┃┗━━┓┃┃┃┗┓┃┗━━┓┃┗━┛┃┃┃┃┗┓┏┫┣┓
       ┗━━━┛┗━━━┛┗┛┗━┛┗━━━┛┗━━━┛┗┛┗━┛┗━━┛

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

Linux Host PC

(The definitive guide is on cognipilot.org !! copied here for convenience only)

• From the command line run

ros2 launch b3rb_bringup robot.launch.py foxglove:=false

NavQPlus

• Login to the NavQPlus using ssh or serial console.

• Ensure the NavQPlus and Host PC are on the same network

• AFTER starting ROS on the Host PC, THEN on the NavQPlus run

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