# Evaluation Platform For Grand Finale

{% hint style="danger" %}
Participanting teams that are will do the following changes will automatically be eliminated from the competition.
{% endhint %}

* 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 $ROS\_DISTRO".)
    * NavQPlus must have the following ROS2 environment variables configuration:
      * ROS\_DOMAIN\_ID=7
      * ROS\_LOCALHOST\_ONLY=0
      * (Note: Commands for these are added in "\~/.bashrc" when setting up CogniPilot.)
    * You may refer "[github.com/NXPHoverGames/b3rb\_robot/tree/nxp\_aim\_2024\_pose\_eval](https://github.com/NXPHoverGames/b3rb_robot/commit/829d95daa83af8a5701eb255d916b52481d89fd6)" for the following:
      * In the file "\~/cognipilot/cranium/src/b3rb\_robot/b3rb\_bringup/launch/robot.launch.py", at line = 167:
        * Comment the following nodes from the LaunchDescription object returned in robot.launch.py:
          * nav2, corti, slam, localization.
      * In the file "\~/cognipilot/cranium/src/b3rb\_robot/b3rb\_bringup/launch/laser.launch.py", at line = 50:
        * Set pub\_rate as 4.0.
    * Comment the following lines in the "\~/.bashrc" at NavQ+.
      * export RMW\_IMPLEMENTATION=rmw\_cyclonedds\_cpp
      * export CYCLONEDDS\_URI=/home/$USER/CycloneDDSConfig.xml
      * (Then, restart NavQPlus.)

{% hint style="info" %}
After above steps make sure to re-build using colcon build followed by source.
{% endhint %}

{% hint style="danger" %}
Participants should not change cranium nodes other than the ones in \~/cognipilot/cranium/src/b3rb\_ros\_line\_follower and \~/cognipilot/cranium/src/synapse\_msgs.
{% endhint %}


---

# Agent Instructions: Querying This Documentation

If you need additional information that is not directly available in this page, you can query the documentation dynamically by asking a question.

Perform an HTTP GET request on the current page URL with the `ask` query parameter:

```
GET https://nxp.gitbook.io/nxp-aim/grand_finale_evaluation.md?ask=<question>
```

The question should be specific, self-contained, and written in natural language.
The response will contain a direct answer to the question and relevant excerpts and sources from the documentation.

Use this mechanism when the answer is not explicitly present in the current page, you need clarification or additional context, or you want to retrieve related documentation sections.