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rc-brain

One repo to rule them all

Packages

TELEOP

The joystick is connected to /dev/input/event0 by default. To be able to access it, the user launching ros must have the input group.

SERIAL

Arduino Uno seems to connect to /dev/ttyACM0 To run, the serial-ros2 library must be cloned to the parent workspace. The user launching ros must have the dialout group.

CONTROLS

To run, the sllidar_ros2 library must be cloned to the parent workspace

Developing

Local Development

Run ./scripts/deploy/arduino_setup.sh the first time arduino is setup. Run ./scripts/deploy/arduino_deploy.sh to compile and flash code to the arduino.

Formatting

If you're not using the DevContainer, please make sure to install clang-format, ideally version 19! This will help keep the formatting of our C++ code formatted consistently. Python code is formatted by black. The DevContainer will install the Black extension for you, which ships with black, but otherwise you'll need to install it in VSCode or whatever other IDE you're using.

Deploying

Regular deployment

If you're just developing, building Docker images will probably take too long. You can deploy normally just by running scripts/deploy.sh. It will drop you into an interactive session at the end so you can launch whatever you want to.

Docker deployment

Our Docker deployment pipeline works by pushing Docker images to a local registry and pulling them down on the mini cars. This avoids both long build times on the mini cars and the long time it takes to transfer whole images (as we can take advantage of Docker's cache).

You'll have to do a bit of setup to get your computer to use the local registry. Note that you must be connected to cev-router.

Add the following configuration to /etc/docker/daemon.json:

{
    "insecure-registries" : [ "mini-server:5000" ]
}

Then, restart the docker daemon (with systemctl restart docker on linux).

If you have errors regarding buildx or buildkit, please make sure you have Docker BuildX installed.

If there are still errors regarding some "Exec format error", then run docker run --privileged --rm tonistiigi/binfmt --install all which will install qemu for cross-platform compilation.

IMU Notes

IMU connects to 232R/T

REMOTE CONNECTION

To send and receive data over ros while on the same network, simply run export ROS_DOMAIN_ID=0 export ROS_LOCALHOST_ONLY=0 on all devices.