Waterloo Steel:Platform Instructions

Table of Contents

[Last generated: Fri 25 Nov 2022 11:45:03 EST]

• Waterloo Steel V2 Platform Instructions
• 1. Waterloo Steel Robot Launch Instructions 🚧
• 2. Local Development 🚧
• workspace:
• clone --> to the src/
• recursive submodules:
• or manually init specific submodules you want to compile with
  • Ubuntu 18 - ROS Melodic
  • Ubuntu 20 - ROS Noetic
• 3. Robot Maintenance
  • Manual Migration Backup 🚧
• 4. Debug Tips
  • PeakCAN:
  • PS Controller:
• 5. Helpful Scripts
  • Git:
• 6. File Arch
  • 6.1 xacro and launching

---

Waterloo Steel V2 Platform Instructions

1. Waterloo Steel Robot Launch Instructions 🚧

1. Power on the robot, wait for computers to auto-boot

2. Check if default launch successful:

   # SSH into adlink mxe211 (summit)
   $ ssh uwarl@192.168.1.11
   
   # check if summit bringup is successful
   $ systemctl status --user roscorelaunch@summit_xl_bringup:summit_xl_complete.launch
   
   # stop/restart
   $ systemctl stop/restart --user roscorelaunch@summit_xl_bringup:summit_xl_complete.launch
   
   # [DEBUG]
   $ journalctl --user --user-unit=roscorelaunch@summit_xl_bringup:summit_xl_complete.launch.service > log.txt
   # [DEBUG] - Live Stream:
   $ journalctl --follow --user --user-unit=roscorelaunch@summit_xl_bringup:summit_xl_complete.launch.service

2. Local Development 🚧

# SUMMIT-catkin_ws
[Hardware v2] catkin workspace for Robotnik Summit XLS in Adlink MXE-211
This will serve as the foundation for managing `UWARL_catkin_ws/src`

# Installation Guide:
1. Clone the repo as workspace source
    ```bash
    # workspace:
    $ cd ~ && mkdir -p ~/UWARL_catkin_ws/src
    # clone --> to the src/
    $ git clone git@github.com:UW-Advanced-Robotics-Lab/SUMMIT-catkin_ws.git ~/UWARL_catkin_ws/src
		# recursive submodules:
    $ cd ~/UWARL_catkin_ws/src && git submodule update --init --recursive
    # or manually init specific submodules you want to compile with

2. Build: $ cd ~/UWARL_catkin_ws && catkin build
3. Robot ROS Configuration Files & Scripts & instructions on semi-automated installation: --> https://github.com/UW-Advanced-Robotics-Lab/uwarl-robot_configs

⚠️ For additional Guides, Please follow UWARL Wiki Guide

Usage Guide:

Modifications:

1. switch workspace : git checkout {branch-name}
2. add modules: $ git submodule add {git-repo}
3. remove submodules: $ git submodule deinit {git-repo} and you may need delete the submodules in .gitmodules file
4. Create a new branch of workspace: git checkout -b waterloo_steel/adlink-mxe211-melodic/{node}/{feature}

Commit and Push:

1. Commit all changes under submodules
2. Make sure you run this: $ ./git-status-all.sh to log all status into git-status-all.log
3. commit all current workspace changes: $ git add . && git commit -a
4. Push workspace $ git push or upload a branch $ git push -u {your-branch-name}

## Ubuntu 18 - ROS Melodic



## Ubuntu 20 - ROS Noetic

- `sudo ln -s /usr/bin/empy3 /usr/bin/empy` is required to get robotnik hw compiled on **x86**

  - **arm** arch please do not update the submodule for the base_hw

- Catkin build with python3: ` catkin build -DPYTHON_EXECUTABLE=/usr/bin/python3`

  - else you may get compile error for failing to find python `empy`

  



# 3. Robot Maintenance

## Manual Migration Backup :construction:

1. Backing Up Remote Robot's core files with https://github.com/UW-Advanced-Robotics-Lab/uwarl-robot-backup
   - Pre-requisite: previous ssh remote access of the computer
   - Ex: (⚠️ Large) backing up summit-pc configuration: `bash backup.sh uwarl_summit summit@192.168.0.147 {passcode}`
   - Lightweight backup just the config necessary (`backup_without_home`)

2. Unpacking only: `bash unpacking.sh uwarl_summit`



# 4. Debug Tips

## PeakCAN:

- [Link to Linux Manual PDF](https://www.peak-system.com/fileadmin/media/linux/files/PCAN-Driver-Linux_UserMan_eng.pdf)

```bash
# check if loaded
$ sudo modprobe pcan
$ dmesg | grep pcan
	
# Check CAN interfaces configurations:
$	cat /etc/modprobe.d/pcan.conf

PS Controller:

# check driver status
$ systemctl status ds4drv.service

5. Helpful Scripts

Git:

# list all repo under catkin_ws/src and their git status
$ find . -maxdepth 1 -type d -execdir sh -c 'cd {}; pwd ;git status; git remote -v; echo "----------\n\"' \;
# [uwarl-robot_configs] now in zshrc aliasing:
$ git-status-all

6. File Arch

6.1 xacro and launching

# waterloo_steel
Private repo that contains the mobile manipulator configuration for both hw and sim. 

```
[2022 Nov 05]
..xl_robot/../waterloo_steel_summit.launch              >>> Physical robot launching
| ---> summit_xl_state_robot.launch                     >>> ROS Parameter Server
    |----> xacro robot model

summit_xl_rviz.launch           >>> rviz
rviz.launch                     >>> rviz
wam_launch.launch               >>> wam launch file???

waterloo_steel/..viz/..sim_bringup/waterloo_steeel_complete.launch          >>> complete
|---> waterloo_steel_gazebo.launch
    |---> waterloo_steel/..viz/..gazebo/waterloo_steeel_one_robot.launch    >>> one robot

[xacro robot model: .env variable]
    |----> summit_xls_171102A.urdf.xacro
        |----> all_sensors.urdf.xacro
        |----> {waterloo_steel_description}/../omni_wheel.urdf.xacro
        |----> {waterloo_steel_description}/../summit_xls_base_waterloo.urdf.xacro
            |----> {waterloo_steel_description}/summit_xl_base.gazebo.urdf.xacro
                |---> *.so ros controller/driver
            |----> *.stl
	
waterloo_steel/..viz/..sim_bringup/waterloo_steeel_complete_combined.launch	>>> wagon + robot
    |----> waterloo_steel/..viz/..sim_bringup/waterloo_steeel_complete.launch	

```