MR-B3RB Software developer guide
Setting up B3RB with CogniPilot environment software
Introduction
The full robotics reference design experience on MR-B3RB relies on the Linux NavQPlus companion computer working in concert with the real time controller MR-CANHUBK344. CognipPilot is the preferred framework that works hand in hand with ROS2 to provide a fully robotic vehicle, and sets up and configures the majority of the associated host companion computer, and development PC tools. The CogniPilot system is therefore more than just the Cerebri real time vehicle control module.
Other frameworks including bare metal code can be used on B3RB when used in NXP-CUP or AIM. Those competitions may also just use a subset of cognipilot or even alternative software.
Note however that the combination of Zephyr + Cognipilot is valuable even for when you don't intend to take advantage of the full implementation environment and setup. You can choose to not run Cognipilot Cerebri or other Cognipilot modules.
The development process can be repurposed. Because Cognipilot sits cleanly as an application on top of Zephyr RTOS various aspects of it's implementation such as sensor drivers can be leveraged.
This may be true especially for like NXP-CUP or AIM india systems which are less complex of a robotics implementation.
Installation and setup overview
A) Prepare your Linux development PC
Follow this section of Cognipilot to prepare your Linux development PC with ROS, Zephyr and Cognipilot development tools : https://airy.cognipilot.org/getting_started/install/
NEW https://brave.cognipilot.org/getting_started/install/
B) Prepare NavQPlus
Follow this section of to prepare Cognipilot-Cranium on NavQPlus : https://airy.cognipilot.org/cranium/compute/navqplus/setup/
NEW https://brave.cognipilot.org/cranium/compute/navqplus/setup/
C) Prepare MR-CANHUBK344 real time vehicle controller
Follow this section of CogniPilot to prepare Cognipilot-Cerebri software on MR-CANHUBK344 : https://airy.cognipilot.org/reference_systems/b3rb/setup/
NEW https://brave.cognipilot.org/cranium/compute/navqplus/setup/
NEW https://brave.cognipilot.org/reference_systems/b3rb/about/
https://airy.cognipilot.org/reference_systems/b3rb/about/
The definitive guide is the CogniPilot website, but you can also follow the additional sub-pages for additional guidance details
Next Steps
After installation, 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.
Links
The developer guide for Cognipilot can be found here: https://airy.cognipilot.org/
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