# Running of AIM 2024 software stack

To run the simulation, run the following commands in a new Terminal Window

```
$ ros2 launch b3rb_gz_bringup sil.launch.py world:=Raceway_1
```

Running this will launch the gazebo simulation and Xterm window as follows:

![](https://1677675178-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-MWeiLnwrIKZJWLFsXhf%2Fuploads%2Fgit-blob-92988ef447b360263f6b0ab8eb9c31a17f3fe501%2Fsample_world_0.png?alt=media)

![](https://1677675178-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-MWeiLnwrIKZJWLFsXhf%2Fuploads%2Fgit-blob-a971ca30b9c891cc13a704083a1885e14a2811c3%2Fsample_world_1.png?alt=media)

![](https://1677675178-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-MWeiLnwrIKZJWLFsXhf%2Fuploads%2Fgit-blob-25fb9b2f9417feecaf0072364b559af78a850a22%2Fsample_world_2.png?alt=media)

On a different terminal run the following code:

```
$ source ~/cognipilot/cranium/install/setup.bash
$ ros2 run b3rb_ros_line_follower vectors
```

On a different terminal run the following code:

```
$ source ~/cognipilot/cranium/install/setup.bash
$ ros2 run b3rb_ros_line_follower runner
```

On a different terminal run the following code:

```
$ source ~/cognipilot/cranium/install/setup.bash
$ ros2 run b3rb_ros_line_follower detect
```

***Running the above 3 commands should make the buggy move autonomously now in simulation.***

{% hint style="danger" %}
If on execution of any \_*ros2 run b3rb\_ros\_line\_follower* gives error like below, it means that sourcing of setup.bash was unsuccesful
{% endhint %}

![](https://1677675178-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-MWeiLnwrIKZJWLFsXhf%2Fuploads%2Fgit-blob-f64537d9b1ecc4c2dc5e752f9327c5560fd5350e%2Fline_follower_fail.png?alt=media)

## Troubleshooting

If after successful installation done on step-6, one is still facing issue on executing ros2 run b3rb\_ros\_line\_follower vectors/detect/runner commands, then please make sure that the packaage installed in /cognipilot/cranium/src for br3b\_ros\_line\_follower is same as this folder: <https://github.com/NXPHoverGames/NXP\\_AIM\\_INDIA\\_2024/tree/main/b3rb\\_ros\\_line\\_follower>

There seems issue from github side, where it is clonning previous unstable commit files and will cause issue. Please repalce the content with the content available on github and re-build the setup and try running again.

If issue is still not resolved try this approach: Please clone the setup from <https://github.com/NXPHoverGames/NXP\\_AIM\\_INDIA\\_2024/tree/main> and manually follow steps given here: <https://github.com/NXPHoverGames/NXP\\_AIM\\_INDIA\\_2024/tree/main?tab=readme-ov-file#execution-steps>


---

# 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/running-simulation.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.