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