Create Maze_Competition/Simulator_Instructions.txt

Maze_Competition/Simulator_Instructions.txt

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+Requirements:
+Have ubuntu 22.04 
+Have ssh keys set up
+Gaming controller (ex: xbox,ps, etc.)
+
+
+Instructions to Set up RDD2 drone with SLAM and nav2 capability 
+
+Step 1 install Cognipilot (*make sure you have ssh key set up on this device prior to install)
+
+sudo apt-get update
+sudo apt-get install git wget -y
+mkdir -p ~/cognipilot/installer
+wget -O ~/cognipilot/installer/install_cognipilot.sh https://raw.githubusercontent.com/cognipilot/helmet/main/install/install_cognipilot.sh
+chmod a+x ~/cognipilot/installer/install_cognipilot.sh
+/bin/bash ~/cognipilot/installer/install_cognipilot.sh
+
+When prompted:
+
+1) airy
+2) brave
+3) main
+
+Enter a CogniPilot release (number) to use: 2
+
+Using CogniPilot main development branch.
+
+1) native
+2) navqplus
+
+Enter a CogniPilot installer type (number) to use: 1
+
+Clone repositories with git using already setup github ssh keys [y/n]? y
+
+Source your bashrc when finished installing as prompted
+
+source ~/.bashrc
+
+Step 2 Build the cognipilot workspace
+The previous step should have created a bin directory in the directory you installed cognipilot in. go to the bin directory then run build_workspace
+
+cd ~/bin
+./build_workspace
+
+When prompted:
+Clone repositories with git using already setup github ssh keys [y/n]? y
+
+Using git with ssh, best for developers.
+1) b3rb
+2) rdd2
+
+Enter a platform (number) to build: 2
+
+Source your bashrc when finished installing as prompted
+
+source ~/.bashrc
+
+*if you get an error rerun once or twice it sometimes times out when building especially the first time
+
+Step 3 add resources needed for competition 
+
+Add map world file
+
+Download this file
+https://github.com/ksommerkohrt/dream_world/blob/main/worlds/maze.sdf
+
+Copy the file and move it to the worlds directory (this can also be done in the file explorer as well)
+cd ~/Downloads
+mv maze.sdf ~/cognipilot/cranium/src/dream_world/worlds
+
+Go to cranium directory and build changes so the new world file is recognized
+cd ~/cognipilot/cranium 
+colcon build --symlink-install
+
+
+Replace nav2 yaml file (optional)*
+
+*the yaml file above uses the rotation shim controller and has slowed down the drone to make it 
+a bit more realistic but this solution still is not 100% successful
+
+The original yaml file is the default yaml file for a rover as such it presumes the drone can brake quickly like a wheeled vehicle and often hits walls
+
+You can start from either yaml file and tune a feasible solution either by using plugins discussed here: https://docs.nav2.org/plugins/index.html?highlight=plugin 
+
+Or you could also develop your own plugins. The process involved in doing so is described here
+https://docs.nav2.org/plugin_tutorials/index.html 
+
+Download this file
+https://github.com/ksommerkohrt/rdd2/blob/main/rdd2_nav2/config/nav2.yaml 
+
+Copy the file and move it to the config directory (this can also be done in the file explorer)
+cd ~/Downloads
+mv nav2.yaml ~/cognipilot/cranium/src/rdd2/rdd2_nav2/config
+
+Step 4 run the simulation in the maze world
+cd ~/cognipilot/ws/cerebri
+git pull
+rm -rf install
+west update
+west build -t install
+ ros2 launch rdd2_gz_bringup sil.launch.py electrode:=true world:=maze
+
+Step 5 set up drone to accept nav2 goals
+Press green triangle (ps) or y button (xbox) to put the drone in cmd_vel mode
+Press right bumper to put the the drone in offboard mode
+Press right trigger to arm the drone 
+
+
+
+How to set up autonomous exploration*
+
+git clone git@github.com:ksommerkohrt/frontier_exploration_maze.git
+cd ~/frontier_exploration_maze
+colcon build
+
+After you launch the robot and prepare it to accept nav2 goals in one terminal open another and run:
+source install/setup.bash 
+ros2 launch frontier_exploration classical_exploration.launch.py
+
+*If this fails and says there are no remaining frontiers part of the way through the maze sometimes rerunning it will allow the robot to exit the maze
+
+How to create map
+Once your robot has completed the maze in a new terminal run:
+ros2 run nav2_map_server map_saver_cli -f ~/cognipilot/cranium/src/rdd2/rdd2_nav2/maps/maze
+
+How to load your map and use it to navigate:
+
+Go to cranium directory and build changes so the new world file is recognized
+cd ~/cognipilot/cranium 
+colcon build --symlink-install
+
+cd ~/cognipilot/ws/cerebri
+git pull
+rm -rf install
+west update
+west build -t install
+ros2 launch rdd2_gz_bringup sil.launch.py nav2:=true localization:=localization rviz:=true world:=maze
+
+
+