Natalie Ajemian's Notebook - cps-vip/cps-cosimulation-env GitHub Wiki

Fall 2025 Notebook

Week 1 (8/18 - 8/22)

  • 1st meeting on Thursday, 8/21
    • Reviewed the main purpose and structure of this VIP.
  • Personal time
    • Submitted welcome quiz
    • Slightly worried for this semester since the time conflict means I'm remote.

Week 2 (8/25 - 8/29)

  • 2nd meeting on Thursday, 8/28
    • I have a time conflict this semester, though it seems like this meeting was spent deciding subteams and setting up a recurring subteam meeting.
    • Announcement that the kick-off slides will be presented next meeting.
  • Personal time
    • Reviewed and organized past semester's final paper to briefly refresh my memory of Nodes and Sensors.

Week 3 (9/1 - 9/5)

  • 3rd meeting on Thursday, 9/4

    • Successful presentation! Theoretically, my recorded audio worked.

  • 1st subteam meeting on Wednesday, 9/3

    • Discussed kick-off presentation slides with subteam.
    • I am now on the "Navigation and Fault Detection Integration" team. We will be working towards completing the mission of sending our robot a location to navigate to via code, and then letting the robot autonomously navigate there.
    • Slightly worried that this is going to be a bigger ordeal than it seems.

  • Personal time

    • Worked on consolidating the Physical Environment, Navigation & Mission, and Fault Detection slides from last year into a cohesive section.
    • Recorded an explanation of the current system architecture for our robot's navigation.
    • View here: 2025 Fall Kickoff Presentation

Week 4 (9/8 - 9/12)

  • 4th meeting on Thursday, 9/11
    • Heard it was productive! Sadly looks like my time conflict class requires mandatory attendance and therefore I will not be able to show up.
  • 2nd subteam meeting on Wednesday, 9/10
    • Discussed how we will onboard new kids. We recommended Joseph Masson's appendix for installing the current version of everything, but it may not be fully updated.
    • Nguyen suggested watching the NAV2 videos again. I will probably rewatch those to get back in the swing of things. I may also try re-attempting everything from my notebook from last semester just to ensure things still work correctly.
    • Additionally, notebook evaluation is due tomorrow at 3pm.
  • Personal time
    • Updated my notebook to reflect the past 3 weeks.
    • Reviewed the following videos from last semester to refamiliarize myself with NAV.
    • Attempted to create a sub-subteam meeting since more than half of us are remote this semester. Currently, there are literally no times that we all are free. I will continue working on this.

Week 5 (9/15 - 9/19)

  • 3rd subteam meeting on Wednesday, 9/17

    • Few updates (some of the new kids are having difficulties pulling the new image down).
    • I should probably make an updated version of Joseph's onboarding stuff.

  • Personal time

    • Had 3 exams this week and was absolutely swamped.

Week 6 (9/22 - 9/26)

Week 7 (9/29 - 10/3)

  • 5th subteam meeting on Wednesday, 10/1
    • People were still somewhat confused about how the robot works, so we went over it a little.
    • Midterm presentation is next week, so we gotta prep for that. I explained some of how it works to the newcomers.
  • Personal time
    • Busy week with midterms. Was not able to hit any of the tutorials but started reading through. Nguyen mentioned working on the moving robot tutorial that Joseph worked on. That might be a good next step.
    • Worked on the paper sections for navigation.

Week 8 (10/6 - 10/10)

Week 9 (10/13 - 10/17)

  • 7th subteam meeting on Wednesday, 10/15

    • Learned Nguyen has completed the goal of automatically sending goal positions.
    • TODO: reach out to Nguyen about what part of the project I should work on.

  • Personal time

    • Started working through the tutorial I found. Got stuck trying to figure out which versions I need to be using.
    • Contacted Nguyen about changing gears to work on something else.

Week 10 (10/20 - 10/24)

  • 8th subteam meeting on Wednesday, 10/22

    • Nothing so far. Everyone is busy with midterms 😬. We called it short.

  • Personal time

    • Had a busy midterm project week for some classes. Not too much progress.
    • Heard back from Nguyen eventually. He mentioned reaching out to Esha.
    • TODO: Reach out to Esha

Week 11 (10/27 - 10/31)

  • 9th subteam meeting on Wednesday, 10/29
    • Update that I will be working on learning more about fault detection with Esha.
  • Personal time
    • Reached out to Esha about working on learning about fault detection
    • Started reading through the previous final paper to see Safiy's work on fault detection
      • To be honest, I know very little.

Week 12 (11/3 - 11/7)

  • 10th subteam meeting on Wednesday, 11/5

    • Missed due to work conflict. I will ask the Mission subteam for any updates.
      • No updates other than people are busy and working a bit on their own things.

  • Personal time

    • Busy with work. No response yet about what we're doing with fault detection.
    • Finished reading through midterm paper. Very simply, this is what I have inferred:
      • An open-conductor fault is injected in GridLAB-D using the eventgen object, causing phase currents and total load to drop near zero during the fault period.
      • The Control Center federate detects the fault by checking when the real part of the total load falls below a small threshold and immediately publishes a /gridfault ROS2 message.
      • That ROS2 message is then used to cue the robot’s navigation system so it can move toward and inspect the faulted substation component within the HELICS–ROS co-simulation.

Week 13 (11/10 - 11/14)

  • 11th subteam meeting on Wednesday, 11/12
    • Few updates. Working on learning more about fault detection. I'm skimming Safiy's notebook for ideas.
    • Need to get working on the final presentation
  • Personal time
    • Heard from Esha that we need to go into https://github.com/cps-vip/cosim-fault-injection and add a new publisher in Relay federate and a subscription in transmission so that they both can communicate when a fault occurs and send it to ROS2 node. This will help connect up the actual fault to the robot's sensors. What I don't fully understand is what sensor we are utilizing.
    • Used some time to try going through a tutorial.

Week 14 (11/17 - 11/21)

  • 14th meeting on Thursday, 11/20

    • Final presentation went smoothly!

  • 12th subteam meeting on Wednesday, 11/19

    • Gotta finish the final paper after break.
    • Missed this due to work conference.

  • Personal time

    • Worked a bit on final presentation slides and touching up. Here's to a final final presentation!

Week 15 (11/24 - 11/28)

Happy Thanksgiving! 🍂

Week 16 (12/1 - 12/5)

  • Personal time
    • Updated notebook! Studied for finals!
    • Touched up final paper for accuracy to the semester and this year's work.

Spring 2025 Notebook

Week 1 (1/6 - 1/10)

  • 1st meeting on Thursday, 1/9

    • Intro slides, reviewing how everything comes together; these slides were much more comprehensible now that I've been here for a semester
    • Mingled with the new folks

  • Also featured on 1/10: Snow in Georgia! ❄️☃️🧣

  • Individual time

    • Reviewed my notebook and Isabella's notebook from last semester to remind myself of what we did
      • Mostly it was research and finding that NAV2 does not play very nice with humble
    • Reviewed syllabus to add important dates to my calendar

Week 2 (1/13 - 1/17)

  • 2nd meeting on Thursday, 1/16

    • Continued reviewing project teams and overall VIP goals (simulating power grid; testing security)
    • Grouped into our subteams - our team is much larger this semester. I think there may be 9-10 of us?

  • 1st subteam meeting on Friday, 1/17

    • We updated Safiy, Sabina, and Joseph on team happenings
    • Set a goal to work on the Kick-off presentation for next week
    • Determined sub-task groups for our team: Fault Detection, Robot Design, Physical Environment, and Mission & Navigation
      • Mission Trajectory Planning and Nodes and Sensors were combined into Mission & Navigation, which is the task I am assigned to
      • Gonna be working with Sam and Rick

  • Individual time

    • Skimmed the final paper from last semester as a refresher
    • Reviewed Hussein's notebook for Mission Trajectory Planning information (since he is now gone 😞)
      • It looks like the main points are that he collected information about which devices that are usable by the device modeling team.
    • TODO: Work on updating slides for the ROS/HELICS Kickoff Presentation Spring25

Week 3 (1/20 - 1/24)

  • SNOW DAY AGAIN! ☃️ (1/21-1/22)

  • 3rd meeting on Thursday, 1/23

    • Presented Mission and Navigation slides in the Kickoff Presentation
    • Touched base with other Mission & Navigation members; will set up onboarding meeting with them

  • 2nd subteam meeting on Friday, 1/24

    • Set up Mission and Navigation goals for the semester

  • Individual time

    • Went over Sabina, Joseph, and Safiy's notebooks, to stay updated with what they're up to

      • Joseph mentioned a new release of Gazebo with a NAV2 demo. Will need to look into that.

    • TODO: Download Gazebo Ionic, the 9th major release of Gazebo (directly after our Gazebo Harmonic, which was the 8th release)

      • Followed these commands:
        sudo apt-get update
        sudo apt-get install lsb-release gnupg
        sudo curl https://packages.osrfoundation.org/gazebo.gpg --output /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
        echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
        sudo apt-get update
        sudo apt-get install gz-ionic

    • [] TODO: Run the new NAV2 demo

Week 4 (1/27 - 1/31)

  • 4th meeting on Thursday, 1/30

    • Trying to figure out which versions of ROS2 and Gazebo will work with Nav2
      • ROS2 Jazzy and Gazebo Ionic are incompatible due to docs that Shreyas found. Maybe look into ROS2 Rolling (which is compatible with Ionic?)

  • 3rd subteam meeting on Friday, 1/31

    • Touched base with everyone. Planning to download ROS2 Rolling and try figuring out how to get NAV2 Demo working. Currently, my hypothesis is that the Turtlebot is what's causing problems, since I retried and the package deletion was happening during Turtlebot download.

  • Individual time

    • Met with Sam and Nguyen on Tuesday, 1/28 to set up their VMs. It was a little bit tricky.
    • TODO: Make a quick start guide like Joseph's for Mission & Navigation
    • Looked at running the new NAV2 demo - it seems to require ROS2 Jazzy, which is the 10th release of ROS2. We currently use Humble, the 9th release. Need to talk to Joseph about this.

Week 5 (2/3 - 2/7)

Note: This week has felt like a month. Everything has been a bit hectic, so wasn't able to accomplish as much as I'd like this week

  • 5th meeting on Thursday, 2/6

    • Not too much progress. I've been working on getting Docker to work and download the Rolling VM. Learned that Sam and Will are going to be out next week, so we'll have a guest lecture.

  • 4th subteam meeting on Friday, 2/7

    • Normal team updates - we need to start the midterm paper soon.

  • Individual time

    • Tried downloading Rolling. Docker decided to update itself instead.
    • Finally got ROS2 Rolling VM downloaded.

Week 6 (2/10 - 2/14)

  • 5th meeting on Thursday, 2/13

    • Sam and Will were absent, so we received a guest lecture about CPS instead. It was cool.

  • 4th subteam meeting on Friday, 2/14

    • Had to miss due to a doctor's appointment. Plan to review meeting notes by next meeting.
    • Got an update from Samuel Ling that the meeting was silent for the first 5 minutes. Should I start bringing icebreakers?
    • We will need to start working on the midterm paper (due next Thursday, 2/20)

  • Individual time

    • This semester is entirely swamped with work. Been trying to consistently do things, but it's been difficult. I might choose a weekend to power through some work? Currently planning to spend March 1st and 2nd for that, if so.

Week 7 (2/17 - 2/21)

  • 6th meeting on Thursday, 2/20
    • We did a little overview highlighting the way all the components work together - we should probably do this again next semester for the new kids. It was pretty helpful for me too.
      • Highlights: Everything is connected by HELICS, Gridlab-D is what alerts a fault, ROS controls the robot, Gazebo simulates everything visually, and NAV builds on sensing and SLAM to help the robot autonomously move around
  • 5th subteam meeting on Friday, 2/21
    • Prepping for the midterm presentation
  • Individual time
    • Updated the verbiage on the Nodes & Sensors part of the midterm paper to reflect that we're looking into solving the compatibility issues by updating ROS and Gazebo.
    • Updated the Mission and Trajectory part of the midterm paper to reflect the research we're probing into.
    • Been so busy. Another exam hell week is next week 😨

Week 8 (2/24 - 2/28)

  • 7th meeting on Thursday, 2/27

    • Our midterm presentation! Presented Mission & Navigation slides
    • Received feedback to put the Mission Goal slide first to orient our audience (remember for next time)

  • 6th subteam meeting on Friday, 2/28

    • Normal updates again - going to work on adding a LiDAR to Joseph's moving robot demo

  • Individual time

Week 9 (3/3 - 3/7)

  • 8th meeting on Thursday 3/6

    • Slow day
    • Worked more on adding the LiDAR
    • Nguyen suggests switching to the URDF style of building the robot instead of just extending Joseph's moving robot demo
      • This would be more flexible, but I don't want to undo Joseph's work

  • 7th subteam meeting on Friday, 3/7

    • Meeting ended up cancelled - my update was that I've been adding a LiDAR onto the moving_robot SDF that Joseph made
    • Hoping to work more over Spring break

  • Individual time

    • Used this tutorial to add a LiDAR sensor the moving_robot demo robot in Gazebo

Week 10 (3/10 - 3/14)

  • 9th meeting on Thursday 3/13

    • Slow day again, most people didn't show up since Spring Break is next week
    • Worked more on adding the LiDAR

  • 8th subteam meeting on Friday, 3/15

    • Meeting cancelled due to Spring break...will hopefully work a little bit on LiDAR testing

  • Individual time

    • Continued this tutorial
    • Finished adding physical LiDAR to moving robot - will check next week

Week 11 (3/17 - 3/21)

  • Spring break! 🌷🌱🌧️
    • Unfortunately trying to troubleshoot the LiDAR sensor - it doesn't stay attached the the robot when the robot moves (it stays at the origin)
    • TODO: Fix that ^

Week 12 (3/24 - 3/28)

  • 10th meeting on Thursday 3/27

    • Quick updates on break progress - not many
    • We're going to work on getting a LiDAR first, and then worry about NAV2

  • 9th subteam meeting on Friday, 3/28

    • Meeting cancelled again... updated everyone in the Discord that we're working on a working LiDAR

  • Individual time

    • Got swamped by a massive project again...progress will probably be pushed to April

Week 13 (3/31 - 4/4)

  • 11th meeting on Thursday 4/3

    • Elliot and Sabina would like the full Navigation done in time for when the robot is built (probably next semester)
    • Nguyen and I are going to start from scratch in URDF-style instead of continuing to try to edit Joseph's moving robot demo

  • 9th subteam meeting on Friday, 4/4

  • Individual time

Week 14 (4/7 - 4/11)

  • 12th meeting on Thursday 4/10

    • Quick updates on progress - Nguyen has built out a moving robot in URDF-format and a sample world
    • I'm working on SLAM and navigation - luckily Nguyen has already set up a package to help facilitate SLAM
    • Elliot and Sabina seem more pleased
    • Additionally, we have our final presentation next Wednesday - need to prepare for that

  • 11th subteam meeting on Friday, 4/11

    • Showed my demo of the articubot_one navigating to a goal position using NAV2 and slam_toolbox
    • Reminder - final presentation next Wednesday
    • Navigation Diagram:

  • Individual time

    • Successfully created and saved cost maps of Nguyen's example world following this tutorial
    • Successfully integrated the autonomous navigation using NAV2
      • GitHub pull request with navigation
      • Set up twist_mux.yaml, which handles how the robot chooses movement (prioritizes controller input over navigation)
      • To run from NAV2/src:
        • Terminal 1 (run the twist_mux)
        colcon build --packages-select NAV2
source install/setup.bash
ros2 run twist_mux twist_mux --ros-args --params-file NAV2/config/twist_mux.yaml -r cmd_vel_out:=diff_cont/cmd_vel_unstamped
        • Terminal 2 (set up the simulation)
        source install/setup.bash
ros2 launch NAV2 launch_sim.launch.py
        • Terminal 3 (run slam_toolbox)
        source install/setup.bash
ros2 launch slam_toolbox online_async_launch.py slam_params_file:=NAV2/config/mapper_params_online_async.yaml use_sim_time:=true
        • Terminal 4 (run NAV2)
        source install/setup.bash
ros2 launch nav2_bringup navigation_launch.py use_sim_time:=True
        • To navigate the robot, open RVIZ and select 2D goal pose at the top bar. Click on the final location and direction you want your robot to be in.

Week 15 (4/14 - 4/18)

  • 13th meeting on Thursday 4/17

    • Presented the introductory slides of our final presentation
    • Had to leave early due to a final exam that was on the other side of campus
    • Heard it went well from Mission & Navigation team though!

  • 12th subteam meeting on Friday, 4/18

    • Seems to have been cancelled - will work on final paper (due next Thursday)

  • Individual time

Week 16 (4/21 - 4/25)

Done for the semester! I think we got a decent bit done 😄

Fall 2024 Notebook

Week 1 (8/19 - 8/23)

  • 1st meeting on Thursday, 8/22
    • Introduction to team; joined the Discord Server and completed the welcome quiz
    • Learned basics about power grid and maintenance
  • Individual time
    • Read through syllabus; added important dates to calendar

Week 2 (8/26 - 8/30)

  • 2nd meeting on Thursday, 8/29
    • Joined the ROS/HELICS sub-team, chose extra meeting date (Mondays, 1pm)
    • Introduction to kick-off presentation requirements
    • Learned more about specific tasks within ROS/HELICS team
      • ROS (robot operating system simulator)
      • HELICS (program that coordinates and interfaces other simulation programs)
      • Gridlab D (physics simulator)
      • Gazebo (physical visualization simulator)
  • Individual time
    • Read Spring 2024 Final IEEE Paper and past Kick-off slides

Week 3 (9/2 - 9/6)

  • 3rd meeting on Thursday, 9/5
    • Presented introduction and conclusion slides during Kickoff Presentation
    • Watched Device Modeling Sub-team Kickoff presentation
  • Individual time
    • Joined team's GitHub
    • Created Notebook in GitHub
    • Picked slides to present and edited for clarity
    • Chose to help Isabella with adding Node/Sensors to robot

Week 4 (9/9 - 9/13)

  • 1st sub-team meeting on Monday, 9/9
    • Node/Sensors TODO:\
      • Highlight sensors of relevance
            - Research current sensors that substations use
            - Find available data on these\
      • Check if these sensors are offered as ROS packages
  • Individual time

Week 5 (9/16-9/20)

  • 2nd sub-team meeting on Monday, 9/16
    • Updated team on what packages could be added (mostly the full sensor suite)
    • TODO: Pick sensors to focus on this semester
  • 5th meeting on Thursday, 9/19!
    • Received feedback from instructors on which sensors to use; will focus on LIDAR and IMU this semester
    • Learned how to access the Virtual Machine via web browser by following Joseph Masson's Notebook Appendix
      • Installed ROS2 Desktop VM (humble) with this tutorial
      • Note: It turns out that I downloaded the wrong VM because I used the command docker run -p 6080:80 --shm-size=512m tiryoh/ros2-desktop-vnc:foxy. Instead, I should've been using docker run -p 6080:80 --shm-size=512m tiryoh/ros2-desktop-vnc:humble.
  • Individual time
    • Worked through getting set up with the VM
      • Installed ROS2 Humble with this tutorial
      • Note: Originally had an issue when doing the desktop install of humble with sudo apt install ros-humble-desktop where the VM couldn't find the necessary files. It turns out that I was using the incorrect VM. This was fixed by downloading the correct VM (I did docker pull tiryoh/ros2-desktop-vnc:humble) and running that.
      • Note: The process of downloading these VMs was very slow on my computer :(

Week 6 (9/23-9/27)

  • 3rd sub-team meeting on Monday, 9/23
    • Updated team that we'll be focusing on adding LIDAR and IMU sensors this semester
    • TODO: Download Gazebo
    • TODO: Learn how to use ROS2, Gazebo, and how to add sensors.
  • 6th meeting on Thursday, 9/26
    • Meeting was virtual due to Hurricane Helene. Updated that we're focusing on LIDAR and IMU.
    • TODO: Read last semester's midterm paper to understand what it should look like
  • Individual Time
    • Downloaded Gazebo Harmonic! Followed these steps with the following instructions:
      sudo apt-get update
      sudo apt-get install curl lsb-release gnupg
      sudo curl https://packages.osrfoundation.org/gazebo.gpg --output /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
      echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg]http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list> /dev/null
      sudo apt-get update
      sudo apt-get install gz-harmonic\
    • Also successfully tried opening Gazebo Sim by following this tutorial
    • Read over last semester's final paper as well to get a sense for the draft submission

Week 7 (9/30-10/4)

  • 4th sub-team meeting on Monday, 9/30
    • Looked over the paper outline that Safiy drafted
    • TODO: Update the Nodes and Sensors team portion of the paper with Isabella
  • Individual Time
    • Added sections about LIDAR and IMU sensors to the paper draft on Overleaf (a LaTeX Editor)

      Note: Overleaf has told me that my rights to edit the paper file will probably lapse soon since there are too many editors and the owner's plan doesn't account for that.
    • I started working through some ROS2 tutorials that previous students have also completed
      • I completed about half of the Beginner: CLI tools module
        \
  • 7th meeting on Thursday, 10/3
    • Updated on progress
    • Introduced the midterm presentation
    • TODO: Update slides in the midterm presentation to reflect progress

Week 8 (10/7-10/11)

  • 5th sub-team meeting on Monday, 10/7
    • Began working on Nodes & Sensors slides for midterm presentation
    • Planning to work on installing Nav2 stack and adding a LIDAR and IMU sensor
  • Individual Time
    • Finished working on Nodes & Sensors updates slide
  • 7th meeting on Thursday, 10/10
    • Presented introduction and Nodes & Sensors updates during midterm presentation
    • Feedback: we need to come up with some "missions" for the bot...so some goals for what the robot can accomplish

Week 9 (10/14-10/18)

  • No sub-team meeting on Monday due to Fall break at Georgia Tech
  • Slow week in general, due to fall break
  • Individual Time
    • Skimmed through Beginner: CLI tools module (suggested by Joseph)
  • 8th meeting on Thursday, 10/17
    • Planned to send a survey to the device modeling sub-team to get a gauge on which devices might be ready for a "mission'
    • Slow weeks all around

Week 10 (10/21-10/25)

  • Had a bit of a hell week this week, and wasn't able to finish much
  • 6th sub-team meeting on Monday, 10/21
    • Talked over survey and reviewed Hussein's questions
  • Individual Time
    • Looked for how to set up NAV2...there were several tutorials that linked to other tutorials that linked to more...felt like a rabbit hole
    • Finally ended up on set up guide for NAV2
    • Started working through installing, though my Docker is running a bit slowly and taking a while.
      • TODO: Ask how to increase Docker resources
  • 9th meeting on Thursday, 10/24
    • We asked the device modeling sub-team to answer our survey
      • They seem to have files with device models to send over!
    • Asked about increasing Docker resources - apparently it's something about WSL2 file? I need to research this more
      • I also dislike that Docker Desktop will not open unless I close it in Task Manager, and then run as administrator
  • Individual Time
    • Researched WSL 2 files in order to bump my resources up in Docker, since it's running quite slowly
      • TODO: I found this answer on StackOverflow, need to try it

Week 11 (10/28-11/1)

  • 7th sub-team meeting on Monday, 10/28
    • Updated on progress with NAV2 and plans to go through the tutorial that Will found to implement wayfinding
  • Individual time
    • Kept working on the set up of NAV2 with the tutorial, but ran into the following error during sudo apt install ros-humble-turtlebot3-gazebo
      gz-tools2 : conflicts: gazebo (>= 11.0.0) but 11.10.2+dfsg-1 is to be installed conflicts: gazebo (<= 11.14.0) but 11.10.2+dfsg-1 is to be installed e: error, pkgproblemresolver::resolve generated breaks, this may be caused by held packages.
  • 10th meeting on Thursday, 10/31
    • Managed to fix the error with Will...it seems that the package ros-humble-turtlebot3-gazebo conflicts with another package gz-tools2
      • We ran sudo apt remove gz-tools2 to remove the conflicting package gz-tools2 and the rest of the tutorial worked!
      • Full set of commands:
        sudo apt install ros-humble-navigation2
        sudo apt install ros-humble-nav2-bringup
        sudo apt remove gz-tools2
        sudo apt install ros-humble-turtlebot3-gazebo # this is for Iron and older
        source /opt/ros/humble/setup.bash
        export TURTLEBOT3_MODEL=waffle #imports waffle-shaped map
        export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:/opt/ros/humble/share/turtlebot3_gazebo/models
        ros2 launch nav2_bringup tb3_simulation_launch.py headless:=False\

Week 12 (11/4-11/8)

  • 8th sub-team meeting on Monday, 11/4
    • We did not meet due to several team conflicts, and updated in Discord channel
    • Currently working on trying out the NAV4 example and increasing resources for docker
    • Here is a run of the example: video link
  • Individual time
    • Bumped up resources by creating a .wslconfig file and setting resources for WSL2
      • Need to do this since I use a WSL 2 backend on Windows
      • First, I navigated to C:\Users\[myusername] on my computer
      • Next, I created a new text file in C:\Users\[myusername] and named it .wslconfig (no extension like ".txt")
      • Finally, I added the following three lines to the new file:
        [wsl2]
        memory=250GB
        processors=20
  • 11th meeting on Thursday, 11/7
    • Team reviewed answers to survey
    • New error cropped up on my end: the gz sim command doesn't work when I try to open SDF files...seems like the terminal doesn't believe it exists?
    • Troubleshooting: tried gazebo [sdf file] and it did not work :(
    • TODO: Reinstall Gazebo Harmonic, since I think removing gz-tools2 might've broken it

Week 13 (11/11-11/15)

  • Hectic week with exams and job review.
  • 9th sub-team meeting on Monday, 11/11
    • Team is working towards integration by presentation next week
    • I need to fix my gz sim by next week's presentation hopefully so that at the very least I have something working to show
  • Individual time
    • Redownloaded Gazebo Harmonic as I did in Week 6 by running: sudo apt get update
      sudo apt-get install gz-harmonic
      • Thank goodness this worked...I can now use gz sim [sdf file] to open SDF models
    • Annoyingly, Gazebo is still very slow, even though I increased my resources. Unsure what to do.
  • 12th meeting on Thursday, 11/14
    • Discussed presentation next week - I need to update slides for Nodes & Sensors to include NAV2 progress
    • Left a bit early to make it on time to presentation for another class, but was informed that the rest of the meeting involved integrating Sabina and Safiy's work

Week 14 (11/18-11/22)

  • Visited UGA on Sunday and Monday - luckily made it to the sub-team meeting
  • 10th sub-team meeting on Monday, 11/18
    • TODO: Update the new copy of the midterm presentation to be our final presentation deck
    • Need to add updates with the NAV2 example and fixing my Gazebo
  • Individual time
    • There doesn't seem to be a way to have both the Turtle-bot 3 and Gazebo Harmonic, which makes doing the NAV2 set-up tutorial difficult
    • The other option is to use Turtlebot 3 & 4 according to the tutorial, but that requires using ROS2 Jazzy or newer.
      • Unfortunately, Jazzy is the 10th iteration of ROS2, while Humble (which we use) is only the 8th
    • On a separate note, worked on my slides for the final presentation:
  • 13th meeting on Thursday, 11/21
    • Presented the introduction, as well as the Nodes and Sensors slides during final presentation
    • Feedback: We should have a high-level diagram explaining how all of the moving parts connect (there are many moving parts)
      • Created such document here
      • Since NAV2 hasn't been integrated yet, it is floating around ROS2 and Gazebo
    • Separately, discussed with Isabella, Will and Sam about how the Nav2 tutorials generally prefer ROS2 Jazzy or newer, creating issues with Humble
  • Talking with Isabella

Week 15 (11/25-11/29)

  • Slow week due to Thanksgiving break - no meetings.
  • Updated notebook!

Week 16 (12/2-12/6)

  • 11th sub-team meeting on Monday, 12/2
    • Decided to finish initial revisions to final paper by Tuesday night; will use Wednesday to review and submit
    • TODO: Update Nodes & Sensors section within final paper on Overleaf
  • Individual time
    • Added language to Nodes & Sensors section explaining difficulties with installing NAV2 (since most documentation is for newer ROS2 systems than Humble) and a graphic with the NAV2 pathfinding example demonstration
    • Fixed the labelling of some figures to be more accurate
    • Final Paper (PDF)
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