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.

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

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

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

sudo rm -rf /opt/toolchains
sudo rm -rf /opt/zeth
sudo rm -rf /opt/poetry
rm -rf ~/bin/build_*
rm -rf ~/bin/west
rm -rf ~/bin/cyecca
rm -rf ~/bin/docs
rm -rf ~/cognipilot

Then start again with the cognipilot install instructions for the Linux host development PC.

or this link https://airy.cognipilot.org/getting_started/install/#use-cognipilot-universal-installer

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"

apt-get remove ros-humble-ros-gzgarden
sudo apt-get install ros-humble-ros-gzharmonic
sudo apt-get install gz-harmonic

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

ros2 launch electrode electrode.launch.py rviz2:=false

# 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