---
description: Setting up B3RB with CogniPilot environment software
---

# Cognipilot Usage

## Introduction

{% hint style="danger" %}
The definitive guide is the CogniPilot website, these sub-pages are only for additional details and guidance.&#x20;
{% endhint %}

## 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. &#x20;

## 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.

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

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

### Linux Host PC

<mark style="color:purple;">(The definitive guide is on cognipilot.org !! copied here for convenience only)</mark>

* From the command line run

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

### NavQPlus

* Login to the NavQPlus using ssh or serial console.&#x20;
* Ensure the NavQPlus and Host PC are on the same network
* &#x20;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](https://cognipilot.org/releases/airy/getting_started/install)

NEW [https://brave.cognipilot.org/reference\_systems/b3rb/setup/](https://airy.cognipilot.org/reference_systems/b3rb/setup/)

{% embed url="https://cognipilot.org/releases/airy/getting_started/install" %}
