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.

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/

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/

NEW https://brave.cognipilot.org

Introduction

Prepare your Linux development PC

Please start with an Ubuntu Linux install 22.04 or newer.

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/ Ubuntu Linux 24.04

This will:

1. Setup ssh keys and gpg keys for git access

2. install Git

3. Install ROS2

4. install Zephyr build tools

5. and B3RB CogniPilot packages on your host Linux laptop.

6. prepare a SIL (software in the loop) example

7. optionally setup for serving the CogniPilot documentation locally

Next Steps

At this point you have configured a Linux PC for development. Follow the remaining subpage steps for guidance to get the B3RB (CANHUB-K3 and NavQPlus ready) to be updated. Note that the next section to refer to in the CogniPilot will be https://airy.cognipilot.org/reference_systems/b3rb/setup/

NEW https://brave.cognipilot.org/reference_systems/b3rb/setup/

Introduction

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/

NEW: https://brave.cognipilot.org/reference_systems/b3rb/setup/

NEW: https://brave.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

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

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

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

NEW https://brave.cognipilot.org/reference_systems/b3rb/setup/

Introduction

Prepare NavQPlus

Follow this section to prepare CogniPilot-Cranium on NavQPlus: https://airy.cognipilot.org/cranium/compute/navqplus/setup/

NEW https://brave.cognipilot.org/cranium/compute/navqplus/setup/

This will:

1. Flash the EMMC on the NavQPlus with the current Linux Image, using uuu using the USB interface

2. Establish a console connection using one of the three possible methods (USB-UART, SSH,USB-C Gadget ethernet)

3. Connect NavQPlus to a Wi-Fi network and establish an alternative console via SSH over Wi-Fi connection

4. Install CogniPilot Cranium on the NavQPlus (using the script provided)

Links

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

NEW https://brave.cognipilot.org/reference_systems/b3rb/setup/

Launch Notes for B3RB:

Serial terminal

# serial terminal to NavQPlus

screen /dev/ttyUSB0 115200

Setup WiFi connection

# Setup wifi hotspot on phone.

# same network as host PC

# show local wifi networks, find the one you want

sudo nmcli device wifi # for a text interface sudo nmtui

# Connect NavQPlus Wifi to network

sudo nmcli device wifi connect <network name> password <password>

FoxGlove open connection command

When Foxglove starts, "Open Connection" and type connect to ws://b3rb-xx.local:4242 (replace b3rb-xx with whatever your buggy's hostname is)

SSH Login

# SSH login to NavQPlus

ssh user@mrb3rb

#or

ssh user@mrb3rb.local

ROS2 Launch commands

# FIRST launch Ros2 electrode on host pc

# Then launch Ros2 on B3RB

ros2 launch b3rb_bringup robot.launch.py

Set a ROS Domain ID

If there are multiple vehicles being used at the same time on the same network, then you will also need to set a unique ROS_DOMAIN_ID for on both the host LInux machine and the NavQPlus edit your file ~/.bashrc using VIM, NANO or GEDIT

change the line (find with CTRL+W) export ROS_DOMAIN_ID=xxx

where xxx is a unique number from the other robots

First take the J-Link EDU Mini, you can find more information here: #j-link-edu-mini-debugger

Then, get the J-Link EDU Mini. Then, use the cable with a micro USB connector on one end and a USB Type-A connector on the other end.

Then take the 10-Pin 2x5 Socket-Socket IDC (SWD) Ribbon Cable and connect it to the J-Link EDU mini:

Please, connect the 10-Pin 2x5 Socket-Socket IDC (SWD) Ribbon cable in the following position to the J-Link EDU Mini:

Next, please pick up the DCD-LZ adapt board:

Next, connect one end of the 10-pin 2x5 Socket-Socket IDC (SWD) ribbon cable to the connector on the DCD-LZ adapt board. Ensure that the orientation of the connector corresponds to the one shown in the following image:

The pick the 7 position JST-GH connector:

Finally, connect one end to the DCD-LZ adapt board and the other end of the 7 position JST-GH connector to the MR-CANHUBK344. Please, connect it into the pin showed in the following image:

Now, you just need to connect the USB cable to your development computer and also remember to connect the LiPo battery to the PDB to flash the MR-CANHUBK344, as the board needs to be connected to the power. Then, you can return here to follow the instructions: #prepare-mr-canhubk344-real-time-vehicle-controller

First take the J-Link EDU Mini, you can find more information here: #j-link-edu-mini-debugger

Then, get the J-Link EDU Mini. Then, use the cable with a micro USB connector on one end and a USB Type-A connector on the other end.

Then take the 10-Pin 2x5 Socket-Socket IDC (SWD) Ribbon Cable and connect it to the J-Link EDU mini:

Please, connect the 10-Pin 2x5 Socket-Socket IDC (SWD) Ribbon cable in the following position to the J-Link EDU Mini:

Next, please pick up the Cognipilot debug adapter:

Next, connect one end of the 10-pin 2x5 Socket-Socket IDC (SWD) ribbon cable to the connector on the Cognipilot debugger. Ensure that the orientation of the connector corresponds to the one shown in the following image:

Finally, connect the other end of the 7 position JST-GH connector to the MR-CANHUBK344. Please, connect it into the pin showed in the following image:

Now, you just need to connectConnect the USB cable to your development computer and also remember to connect power to the Buggy (the LiPo battery to the PDB) in order to flash the MR-CANHUBK344, as the board needs to be connected to the power. Then, you can return here to follow the instructions: . #prepare-mr-canhubk344-real-time-vehicle-controller

Connect the MR-Link-MR to the 7 position JST-GH programing connector to the MR-CANHUBK344. Please, connect it as shown in the following image:

Now, you just need to connect the USB cable to your development computer and also remember to connect the LiPo battery to the PDB to flash the MR-CANHUBK344, as the board needs to be connected to the power. Then, you can return here to follow the instructions: #prepare-mr-canhubk344-real-time-vehicle-controller

DRAFT-DRAFT-DRAFT Connect the MR-Link-MR to the 7 position JST-GH programing connector to the MR-CANHUBK344. Please, connect it as shown in the following image: <todo> update image to show MR-Link-MR <todo> alternatively connect the 10 pin JTAG/SWD ribbon cable connector <todo update photos below

Connect the USB cable to your development computer and also remember to connect power to the Buggy (the LiPo battery to the PDB) in order to flash the MR-CANHUBK344.

Zephyr West : MCU-Link-MR (using pyOCD)

Use this command when programming using the MCU-Link or MCU-Link-MR from Zephyr west tool

west flash --runner pyocd

Building, Flashing and Debugging — Zephyr Project Documentation

Introduction

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.

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

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

Links

Sometimes you just want to start over. It's ok, we all have days like that. I Fyou need afresh cognipilot start, and want to be extra sure there are no leftover dependencies or files you dont' want etc then follow these steps. Keep in mind this is going to erase local changes you may have made to cognipilot files. Note them in advance if you want to re-do the changes afterwards. (for example you may have disabled the battery voltage check in <todo> xxx.conf)

For clean install on your PC

Then start again with the

or this link

Stuck on a previous Gazebo

The instructions above will take care of Gazebo install also. If you happen to know you are stuck on an old version of Gazebo you may want to just try this first. The example below is where gazebo "garden" (gzgarden) is installed, but you want gazebo "harmonic"