User/raghavauppuluri13/quick docs (#53)

* added docs for teensy compilation + upload

* added more docs

* typo fix

lunabot_bringup/launch/robot.launch

@@ -11,7 +11,6 @@
 
     <include if="$(arg cameras)" file="$(find lunabot_perception)/launch/cameras.launch"/>
     <include if="$(arg record)" file="$(find lunabot_bringup)/launch/record.launch">
-
         <arg name="exp_name" value="$(arg exp_name)"/>
     </include>
 
@@ -38,12 +37,12 @@
               <!-- <rosparam file="$(find lunabot_config)/config/rrtstar.yml" command="load"/> -->
           </node>
       </group>
-  <!-- mapping -->
-  <group ns="maps">
-      <node name="costmap_node" pkg="lunabot_perception" type="costmap_node" output="screen">
-          <rosparam file="$(find lunabot_config)/config/global_costmap.yml" command="load" ns="global_costmap" />
-      </node>
-  </group>
+
+      <group ns="maps">
+          <node name="costmap_node" pkg="lunabot_perception" type="costmap_node" output="screen">
+              <rosparam file="$(find lunabot_config)/config/global_costmap.yml" command="load" ns="global_costmap" />
+          </node>
+      </group>
 
     </group>
 </launch>

lunabot_embedded/firmware/setup_flash_tools.sh

@@ -1,14 +1,11 @@
 #!/bin/sh
 
 ## Installs compilation tools
-# get arduino-cli executable (replace with Linux_x86 if necessary)
-wget https://downloads.arduino.cc/arduino-cli/arduino-cli_latest_Linux_ARM64.tar.gz
-tar -xvf arduino-cli_latest_Linux_ARM64.tar.gz
-./arduino-cli config init
+arduino-cli config init
 python3 update_board_manager.py 
-./arduino-cli core install teensy:avr
-./arduino-cli lib install HX711-master
-./arduino-cli lib install ADS1115-Lite
+arduino-cli core install teensy:avr
+arduino-cli lib install HX711-master
+arduino-cli lib install ADS1115-Lite
 
 ## Installs teensy flasher
 sudo apt-get install libusb-dev
@@ -17,4 +14,4 @@ cd teensy_loader_cli
 make
 sudo make install
 cd ..
-
+rm -rf teensy_loader_cli

lunabot_embedded/readme.md

@@ -1,22 +1,45 @@
 # lunabot_embedded
 
-
-
-## Jetson Code
+## Jetson Teensy C++ Driver
 
 - code in `src` folder
 - see `RobotEffort.msg`
 - see `RobotState.msg`
 
-## Teensy Code
+## Teensy Firmware
+
+code in `firmware/teensy_main/`
+
+### Prerequisites
+- [Install arduino-cli compilation toolchain](https://arduino.github.io/arduino-cli/0.35/installation/#use-the-install-script)
 
-- code in `firmware/teensy_main/`
+### Quick start
 
+1. Setup development environment 
+
+```
+roscd lunabot_embedded/firmware
+./setup_flash_tools.sh
+```
 
+2. Add aliases to simplify compilation (in `.bashrc` or `.zshrc`):
+```
+alias teensy_compile="arduino-cli compile --build-path build --libraries lib --fqbn teensy:avr:teensy41:usb=rawhid teensy_main"
+alias teensy_upload="teensy_loader_cli --mcu=TEENSY41 -wv build/teensy_main.ino.hex"
+```
+
+3. Compile (no hardware needed) + Upload
+
+```
+roscd lunabot_embedded/firmware/teensy_main
+teensy_compile
+teensy_upload
+```
 
-##  Regenerate Proto files
+## Regenerate Proto files
 
 ```
 pip3 install nanopb
+roscd lunabot_embedded/firmware/teensy_main/lib/lunabot_drivers
 python3 -m nanopb.generator.nanopb_generator -L quote RobotMsgs.proto
 ```

readme.md

@@ -2,6 +2,9 @@
 
 This is the official git repo of the Purdue Lunabotics software team.
 
+## Supported Platforms
+- Ubuntu 20.04
+
 ## Quick Start
 
 1. [Install ROS](https://wiki.purduearc.com/wiki/tutorials/setup-ros)
@@ -29,3 +32,9 @@ catkin build
 source ~/catkin_ws/devel/setup.bash # or .zsh if you use a zsh terminal
 ```
 > Note: Build + source every time you add new packages. Source every time you open a fresh terminal, or add the line to your ~/.bashrc (or .zshrc) so it sources automatically
+
+
+## Important docs to read
+- [contributing guidelines](https://github.com/PurdueLunabotics/purdue_lunabotics/blob/master/contributing.md)
+- [running_the_robot](https://github.com/PurdueLunabotics/purdue_lunabotics/blob/master/running_the_robot.md)
+- [firmware setup](https://github.com/PurdueLunabotics/purdue_lunabotics/blob/master/lunabot_embedded/readme.md)

running_the_robot.md

@@ -1,15 +1,15 @@
-### Run commands on the robot
+## Run commands on the robot
 
-#### Setup Networking
+### Setup Networking
 
 1. Connect router to power
 
 > Optionally to get wifi, connect "internet" port on router to an external ethernet port with wifi
 
 2. Connect computer to ethernet port on the router
-3. Turn on the jetson and wait atleast 30 sec
+3. Turn on the jetson and wait 10-15 sec
 
-#### Manual Control
+### Start robot (default is manual)
 
 1. Open a terminal, set the ROS IP info on the laptop and run the magic run command: 
 ```
@@ -23,41 +23,32 @@ ssh <jetson-ip>
 roslaunch lunabot_bringup robot.launch
 ```
 
-#### Autonomy
+#### Other cmdline options
 
-1. Open a terminal, set the ROS IP info on the laptop and run the magic run command: 
-```
-source ~/set_ip.sh
-roslaunch lunabot_bringup computer.launch autonomy:=true
-```
-
-2. Open another terminal, ssh into the robot and run the robot
-```
-ssh <jetson-ip>
-roslaunch lunabot_bringup robot.launch autonomy:=true
-```
+1. On computer
 
-#### Extra Options
+- `autonomy:=true`: disables publishing of manual control
 
+2. On jetson
+- `exp_name:="mpc_test"`: experiment name
+- `autonomy:=true`: enables slam, differential drive controller, mpc, global planner, 
+- `record:=true`: enables recording to `lunabot_bringup/bags`, ensure the folder exists
+- `cameras:=true`: enables cameras
+- `slam:=true`: enables slam
 
+## Joystick commands
 
-
-### Manual Control Commands
-
-##### General commands 
+### General commands 
 - cross key left/right: deposition (up/down)
 - cross key up/down: lead screw (up/down
 - B button: stop everything and latch excavation to zero
 - X button: switch mode
 - Y button: latch/unlatch excavation (only done in excavation mode
 
-##### Drive mode
+### Drive mode
 - left and right joysticks (up/down): tank drive controls for drivetrain (left stick controls left wheel, right stick controls right wheel)
 
-##### Excavation mode
+### Excavation mode
 - left joystick (up/down): Excavation (forward/backward)
   - latch (Y button): will latch current value of excavation and ignore joystick values, press Y again to unlatch
 - right joystick (up/down): Actuation (up/down)
-
-## Contributing guidelines
-See https://github.com/PurdueLunabotics/purdue_lunabotics/blob/master/contributing.md