[Last generated: Fri 24 Feb 2023 10:26:59 EST]

• 1. Waterloo Steel Demo
  • 1.1 Powering on the robot
  • 1.2 Launching the Camera
  • 1.3 Launching WAM
  • 1.4 Launching Demo Node
  • 1.5 Check Demo Rosbag Records:
• A. Troubleshoot
  • A.1 Deck Controller Cannot Launch:
  • A.2 ROS Testing
• B. Hardware Guide
  • B.1 Steam Deck Controller Button Layout
    • B.1.a) Move Summit:
    • B.1.b) Steam Arch Linux:

1. Turn on the robot by twisting two power knobs for Base and WAM

2. Power on the steam deck controller

3. Launch the joystick controller by touching [Launch UWARL Summit Controller] App Icon

   • 🚨 If the controller app quits after launching, [A.1 Deck Controller Cannot Launch:]
   • 📓 You may launch the rviz by touching [Launch Rviz] App Icon

$ ssh [email protected]
$ roslaunch waterloo_steel_supervisor multi_intel_camera.launch

🚨 If the launch is not successful:

1. Check the hardware USB C cable connections to both cameras
2. [Ask Jack if you need to] Launch individual cameras separately for the system to register individual camera IDs

# 1. connect to jetson
$ ssh [email protected]
# 2. start a tmux session
$ tmux 
### TIPS:
# create multiple windows with:
# [ctrl + b] then ["] : split horizontal
# [ctrl + b] then [%] : split vertical
# [ctrl + b] then [arrow-keys] : switch window selection
# [ctrl + b] then [:] and [type: set mouse on] : to enable mouse selection and scroll and window adjustment

# 3. launch wam node:
$ roslaunch wam_node wam_node.launch
### WAM Activation Instruction:
# 1. release all E-stops
# 2. [shift & activate] on control pendant (the one with E-stop inside the cabinet)
# 3. [Enter] on the keyboard to confirm default home-position
# Now, you will hear the gear activating

### TIPS:
# launch other nodes: 1.2 camera & 1.4 demo node in different tmux windows

# 4. detach to keep running in background and independent from your laptop terminal:
# [ctrl + b] then [:] and [type: dettach]

$ roslaunch waterloo_steel_supervisor waterloo_steel_demo.launch
# command to perform demo:
$ rosservice call /waterloo_steel/start_demo "demo_id: 2"

$ ls ~/.ros/bagfiles/waterloo_steel_demo/session_{id}/

🚨 If the controller app quit after launching, it is likely due to the following issues:

1. The deck is not connected to summit wifi "SUMMIT_STEEL_171102A_5G"

   🛠️ Connect to the wifi manually at the status bar

2. The summit is not hardware ready:

   🛠️ Please reset (engage and release) the E-Stop at the rear of the SUMMIT base

3. There is no ros core in the network OR any other detailed issues → The Summit Base ROS Controller and ROS Core were not launched successfully nor enabled:

   🛠️ Please SSH into the summit base and troubleshoot from there:

   # SSH into adlink mxe211 (summit)
   $ ssh [email protected]
   
   # check if summit bringup is successful
   $ systemctl status --user roscorelaunch@waterloo_steel_summit_bringup:waterloo_steel_summit.launch
   
   # [DEBUG] - print out last msg (double-check time-stamp):
   $ journalctl --follow --user --user-unit=roscorelaunch@waterloo_steel_summit_bringup:waterloo_steel_summit.launch.service > log.txt
   # [DEBUG] - Live Stream:
   $ journalctl --follow --user --user-unit=roscorelaunch@waterloo_steel_summit_bringup:waterloo_steel_summit.launch.service
   
   # stop/restart
   $ systemctl stop --user roscorelaunch@waterloo_steel_summit_bringup:waterloo_steel_summit.launch
   $ systemctl restart --user roscorelaunch@waterloo_steel_summit_bringup:waterloo_steel_summit.launch
   
   # You may want to check if the workspace is at the right target, and built successfully:
   $ check_ws_status
   $ build_ws
   $ src_all

$ rosnode ping -c 4 rosout
rosnode: node is [/rosout]
pinging /rosout with a timeout of 3.0s
xmlrpc reply from http://ann:46635/     time=1.195908ms
xmlrpc reply from http://ann:46635/     time=1.123905ms
xmlrpc reply from http://ann:46635/     time=1.144886ms
xmlrpc reply from http://ann:46635/     time=1.137018ms
ping average: 1.150429ms

• http://wiki.ros.org/rosnode

• Launch the joystick controller by touching [Launch UWARL Summit Controller] App Icon

• Button Layouts:

  • Hold 3️⃣ [R1] + Move Up/Down 1️⃣ [L3] : Forward/Reverse
  • Hold 3️⃣ [R1] + Move Left/Right 2️⃣ [R3] : CCW/CW

• 4️⃣ [R4] : Scroll Up
• 5️⃣ [R5] : Scroll Down
• 6️⃣ [L5] : Left Mouse Click for Mouse Menus
• 7️⃣ [L4] : Enter
• 8️⃣ [Left Trackpad] Button Click : Arrow Key Up/Down/Left/Right
• 9️⃣ [Right Trackpad] : Mouse Move + Mouse Right Click
• 🔟 [Steam] : Menu Selection ---> Used to switch between Steam OS / ArchLinux Mode + Power/Restart

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