Waterloo Steel:Platform Development - UW-Advanced-Robotics-Lab/lab-wiki GitHub Wiki

Table of Contents

[Last generated: Wed 4 Oct 2023 14:07:37 EDT]


Hardware Architecture Diagram V3 Final

1. Waterloo Steel Robot Manual Launch Instructions 🚧

  1. MXE 211 should auto-launch the summit-xl

    1. If you need to check status, refer to 1.1 Adlink MXE 211 (SUMMIT + Lidar PC) below.
  2. Interfacing on-board computers:

    1. SSH:

      # Jetson:
      ssh [email protected]
      # Adlink:
      ssh [email protected]
      # Internal-WAM PC:
      ssh [email protected]
  3. All shortcuts came with auto-configuration:

    # sync across multi platform:
    #   - but make sure the config is pointing at the same branch across platforms
    $ sync_latest 
    
    # update (pull recursively in a batch) of the entire workspace with all required submodules (as noted in common.sh) from anywhere
    $ update_ws
    # build ws from anywhere
    $ build_ws
    # source ws from anywhere
    $ src_ws
    # source ~/.zshrc from anywhere
    $ src_zsh
    # cd into workspace from anywhere
    $ cd_ws
    # check wworkspace status from anywhere
    $ check_ws_status
    # cd into robot_configs from anywhere
    $ cd_config
    
    # auto-gen Table of Contents for a specific markdown file
    $ md_toc README.md 
    # auto-gen Table of Contents for a specific directory containing all markdown files
    $ md_toc_dir docs

1.1 Adlink MXE 211 (SUMMIT + Lidar PC)

1.1.0 Reset Workspace:

$ rm -rf ~/UWARL_catkin_ws
$ cd_config
$ ./scripts/auto-config_UWARL_catkin_ws.zsh

1.1.1 PS Controller:

# check driver status
$ systemctl status ds4drv.service

1.1.2 Summit XL Bringup:

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

  2. Check if default launch successful:

    # 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
    
    # stop/restart
    $ systemctl stop/restart --user roscorelaunch@waterloo_steel_summit_bringup:waterloo_steel_summit.launch
    
    # [DEBUG]
    $ journalctl --user --user-unit=roscorelaunch@waterloo_steel_summit_bringup:waterloo_steel_summit.launch > log.txt
    # [DEBUG] - Live Stream:
    $ journalctl --follow --user --user-unit=roscorelaunch@waterloo_steel_summit_bringup:waterloo_steel_summit.launch

1.2 Jetson Orin (WAM + Vision PC)

1.2.1 WAM:

# launch wam node:
$ roslaunch wam_node wam_node.launch

# example commands:
$ rosservice call /wam/go_home                                                                         
$ rosservice call /wam/joint_move "joints:                                                            
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0"

1.2.2 ZED:

$ roslaunch zed_wrapper zed.launch

1.3 Steam Deck Controller

deck

1.3.1 Launch through Icons:

deck_controller_desktop

  • 1️⃣ > Launch Pad
  • 2️⃣ > Rviz Viewer

1.3.2 Launch through terminals:

1.3.2.1 Launch Pad

$ roslaunch summit_xl_pad waterloo_steel_summit_deck.launch

1.3.2.2 Launch Rviz

$ rosrun rviz rviz

2. Unified Development 🚧

3. Usage Guide With Tool Chain and Workspace:


Appendix A - File Arch

A.1 xacro and launching

[TODO]

A.2 ROS

A.2.1 ROS Profiling

a) GDB:

$ build_ws -DCMAKE_BUILD_TYPE=Debug

# in roslaunch file:
<launch>
  <node name="wam_node" type="wam_node" pkg="wam_node" output="screen" 
    launch-prefix="gdb -ex run --args"
  />
</launch>

b) Valgrind:

  • Install:

    • $ sudo apt -y install valgrind
      $ sudo apt-get install kcachegrind # visualizer:
      
      #### roslaunch file add prefix:
      <launch>
        <node name="wam_node" type="wam_node" pkg="wam_node" output="screen" 
          launch-prefix="valgrind --tool=callgrind  
            --log-file=/home/uwarl-orin/JX_Logs/valgrind.log 
            --callgrind-out-file='/home/uwarl-orin/JX_Logs/callgrind.wam_node.%p'"
        />
      </launch>
  • Instructions:

    • $ build_ws -DCMAKE_BUILD_TYPE=Debug
      
      # enable core dumps:
      $ ulimit -a	# check limits
      $ ulimit -c unlimited  # unlimited
      
      # allow core dumps to be created:
      $ sudo echo 1 > /proc/sys/kernel/core_uses_pid

A.2.2 ROS Profiling with rosrun:

Instructions:

  • # make sure build with debug:
    $ build_ws -DCMAKE_BUILD_TYPE=Debug
    # OR:
    $ build_ws_debug
    
    # normal program run:
    $ rosrun vins vins_node $cam_config_file_path
    
    # run with valgrind:
    $ rosrun_valgrind vins vins_node $cam_config_file_path
    
    # -> check error causing memory dump:
    $ cat $HOME/valgrind_log.txt
    ##### OUTPUT:
    ==134393== Memcheck, a memory error detector
    ==134393== Copyright (C) 2002-2017, and GNU GPL'd, by Julian Seward et al.
    ==134393== Using Valgrind-3.15.0 and LibVEX; rerun with -h for copyright info
    ==134393== Command: /home/parallels/UWARL_catkin_ws/devel/lib/vins/vins_node /home/parallels/UWARL_catkin_ws/src/vins-research-pkg/VINS-Fusion/config/uwarl_d455/mono_rgb_imu_config_dual.yaml
    ==134393== Parent PID: 134030
    ==134393==
    ==134393== Thread 7:
    ==134393== Invalid read of size 8
    ==134393==    at 0x4936B20: shared_count (shared_count.hpp:433)
    ==134393==    by 0x4936B20: shared_ptr (shared_ptr.hpp:422)
    ==134393==    by 0x4936B20: FeatureTracker::trackImage(double, cv::Mat const&, cv::Mat const&) (feature_tracker.cpp:199)
    ==134393==    by 0x48B184B: Estimator::inputImage(double, cv::Mat const&, cv::Mat const&) (estimator.cpp:167)
    ==134393==    by 0x19BCAB: sync_process() (rosNodeTest.cpp:126)
    ==134393==    by 0x56B2FAB: ??? (in /usr/lib/aarch64-linux-gnu/libstdc++.so.6.0.28)
    ==134393==    by 0x4E72623: start_thread (pthread_create.c:477)
    ==134393==    by 0x596B49B: thread_start (clone.S:78)
    ==134393==  Address 0x8 is not stack'd, malloc'd or (recently) free'd
    ==134393==
  • # options:
    $ rosrun_gdb
    $ rosrun_valgrind

A.3 Common Issues:

A.3.1 Error of catkin build: Unable to find source space ....

rm -rf ~/.catkin_tools

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