Evaluation Platform For Grand Finale

Participanting teams that are will do the following changes will automatically be eliminated from the competition.

• For the evaluation of NXP AIM 2024 Grand Finale, following are the requirements from the participants -

  • REQUIREMENTS (TO BE PERFORMED ON THE NAVQPLUS) Ensure the ROS2 version is HUMBLE. (Command for checking: "echo $ROS_DISTRO".)

    • Ensure the ROS2 version is HUMBLE. (Command for checking: "echo $ROS_DISTRO".)

    • NavQPlus must have the following ROS2 environment variables configuration:

      • ROS_DOMAIN_ID=7

      • ROS_LOCALHOST_ONLY=0

      • (Note: Commands for these are added in "~/.bashrc" when setting up CogniPilot.)

    • You may refer "github.com/NXPHoverGames/b3rb_robot/tree/nxp_aim_2024_pose_eval" for the following:

      • In the file "~/cognipilot/cranium/src/b3rb_robot/b3rb_bringup/launch/robot.launch.py", at line = 167:

        • Comment the following nodes from the LaunchDescription object returned in robot.launch.py:

          • nav2, corti, slam, localization.

      • In the file "~/cognipilot/cranium/src/b3rb_robot/b3rb_bringup/launch/laser.launch.py", at line = 50:

        • Set pub_rate as 4.0.

    • Comment the following lines in the "~/.bashrc" at NavQ+.

      • export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp

      • export CYCLONEDDS_URI=/home/$USER/CycloneDDSConfig.xml

      • (Then, restart NavQPlus.)

After above steps make sure to re-build using colcon build followed by source.

Participants should not change cranium nodes other than the ones in ~/cognipilot/cranium/src/b3rb_ros_line_follower and ~/cognipilot/cranium/src/synapse_msgs.