Sample A200 Platform Section
@@ -565,6 +384,9 @@ In terms of the **front_bumper** and **rear_bumper**, we left these as defaults. ```yaml platform: controller: ps4 + battery: + model: ES20_12C + configuration: S2P1 attachments: - name: front_bumper type: a200.bumper diff --git a/docs_versioned_docs/version-ros2humble/ros/config/yaml/system.mdx b/docs_versioned_docs/version-ros2humble/ros/config/yaml/system.mdx index d8ee2cc1..0b2efc29 100644 --- a/docs_versioned_docs/version-ros2humble/ros/config/yaml/system.mdx +++ b/docs_versioned_docs/version-ros2humble/ros/config/yaml/system.mdx @@ -7,24 +7,100 @@ toc_max_heading_level: 4 --- Proper networking setup is crucial in setting up the ROS 2 middleware and to ensure other onboard computers communicate reliably. +## Username + +The username indicates the username that will be used to run all ROS nodes. If this username needs to be changed then the robot +services must be reinstalled as directed in the [software installation instructions](../../installation/robot.mdx#robot-services). + ## Hosts -The **hosts** section serves as a way to match IP addresses to hostnames. By default, Clearpath robots use the serial number as the hostname and have a default IP of `192.168.131.1`. +The **hosts** section serves as a way to match hostnames to IP addresses. By default, Clearpath robots use the serial number as +the hostname and have a default IP of `192.168.131.1`. This section must define ip addresses for all hostnames that appear in +the remainder of the `robot.yaml` file. -- The **self** entry refers to the hostname of the computer this configuration file will be loaded on. -- The **platform** entry refers to the hostname and IP of the robot platform's main computer. -- The **onboard** entry is used to define the hostname and IP of other computers on the robot. -- The **remote** entry is used to define the hostname and IP of computers in the system that are not on the robot, such as a user's computer. +For example: + +```yaml + hosts: + - hostname: cpr-a200-0000 # The robot computer + ip: 192.168.131.1 + - hostname: offboard-computer + ip: 192.168.131.5 +``` ## ROS 2 Environment -The **ros2** sections is necessary to setup the ROS 2 middleware. +The **ros2** section is necessary to set up the ROS 2 networking. + +| Key | Value / Datatype | Description | +|:---:| :--------------: | ----------- | +| **namespace** | string | Specified will be appended as a prefix to all sensor topics to prevent topics from being overloaded when multiple robots are on the same network and domain ID. | +| **domain_id** | integer | Specifies the ROS 2 domain ID to use. | +| **middleware** | [See Below](#middleware) | Specifies the ROS 2 middleware settings. | +| **workspaces** | list | Indicates a list of custom ROS 2 workspaces that need to be sourced by specifying the path to the setup.bash or set to `[]` to leave it blank | + +For example: + +```yaml +ros2: + username: administrator + namespace: a200_0000 + domain_id: 0 + middleware: # This section is described further below + implementation: rmw_fastrtps_cpp + workspaces: + - /home/administrator/colcon_ws/install/setup.bash # Path to the custom workspace +``` + +### Middleware + +The **middleware** section defines the which RMW Implementation to use and any related settings. To choose +which implementation and discovery method is right for your project see [networking](../../networking/ros2-networking.mdx). + +| Key | Value / Datatype | Description | +|:---:| :--------------: | ----------- | +| **implementation** | `rmw_fastrtps_cpp` | Declares the RMW Implementation to use. Currently only supports `rmw_fastrtps_cpp`. | +| **discovery** | `simple` or `server` | Select `simple` for simple discovery and `server` for discovery server. (Defaults to `simple`) | +| **profile** | string | Advanced feature, allows an optional custom XML profile to be provided - RMW Implementation / vendor specific. | +| **servers** | list | Provides a list of all discovery servers in the system and whether or not the robot should connect to them. | -- **username** must match the username that is used to run all ROS nodes. -- **namespace** specified will be appended as a prefix to all sensor topics to prevent topics from being overloaded when multiple robots are on the same network and domain ID. -- **domain_id** specifies the ROS 2 domain ID to use. -- **rmw_implementation** specifies the ROS 2 middleware to use. **Currently, it only supports `rmw_fastrtps_cpp`.** -- **workspaces** indicates a list of workspaces that need to be sourced by specifying the path to the setup.py +For example: + +```yaml +middleware: + implementation: rmw_fastrtps_cpp + discovery: simple + profile: path/to/profile.xml + servers: # This section is described further below + - hostname: cpr-a200-0000 +``` + +#### Servers + +This section is only used with eProsima Fast DDS Discovery Server (`implementation: rmw_fastrtps_cpp` and `discovery: server`). + +:::note + +This section must define *every single discovery server* in the system. This must include not only every discovery server +that this robot is connecting to but also every discovery server that the offboard computer will connect to in the system. + +::: + +Each server can be defined with a number of different parameters: + +| Key | Value / Datatype | Description | +|:---:| :--------------: | ----------- | +| **hostname** | string | The hostname of the computer that is hosting the server (must be in the [hosts](#Hosts) list). | +| **port** | integer | The port at which to connect to the server (default is `11811`). | +| **enabled** | `True` or `False` | This indicates whether or not the robot should connect to this server and, if the hostname matches the computer's own hostname, whether or not to launch the server (default is `True`). | + +For example: +```yaml +servers: + - hostname: cpr-a200-0000 + port: 11811 + enabled: True +``` ## Sample @@ -33,23 +109,20 @@ The **ros2** sections is necessary to setup the ROS 2 middleware. In our sample, we have a **Husky A200** platform whose primary computer has the hostname: `cpr-a200-0000` and IP: `192.168.131.1`. -Note that this configuration YAML is meant to be on that primary computer, hence `self: cpr-a200-0000`. - By default, all Clearpath robots use the username `administrator` and the robot's namespace matches the `serial_number`. ```yaml system: + username: administrator hosts: - self: cpr-a200-0000 - platform: - cpr-a200-0000: 192.168.131.1 - onboard: {} - remote: {} + - hostname: cpr-a200-0000 + ip: 192.168.131.1 ros2: - username: administrator namespace: a200_0000 domain_id: 0 - rmw_implementation: rmw_fastrtps_cpp + middleware: + implementation: rmw_fastrtps_cpp + discovery: simple workspaces: [] ``` diff --git a/docs_versioned_docs/version-ros2humble/ros/installation/remote_pc.mdx b/docs_versioned_docs/version-ros2humble/ros/installation/offboard_pc.mdx similarity index 59% rename from docs_versioned_docs/version-ros2humble/ros/installation/remote_pc.mdx rename to docs_versioned_docs/version-ros2humble/ros/installation/offboard_pc.mdx index 49c8b992..c776422d 100644 --- a/docs_versioned_docs/version-ros2humble/ros/installation/remote_pc.mdx +++ b/docs_versioned_docs/version-ros2humble/ros/installation/offboard_pc.mdx @@ -1,25 +1,25 @@ --- -title: Remote Computer setup -sidebar_label: Remote Computer +title: Offboard Computer Setup +sidebar_label: Offboard Computer sidebar_position: 3 toc_min_heading_level: 2 toc_max_heading_level: 4 --- -A remote computer can be used to visualise and interact with the robot. The robot can also be -[simulated](../tutorials/simulator/overview.mdx) on a remote computer to safely test software before +An offboard computer can be used to visualise and interact with the robot. The robot can also be +[simulated](../tutorials/simulator/overview.mdx) on an offboard computer to safely test software before deploying to a physical robot. ### Operating System (OS) {#operating-system} ROS 2 Humble uses [Ubuntu 22.04](https://releases.ubuntu.com/jammy/) as its Tier 1 operating system. Though other operating systems are supported, -it is highly recommended to use Ubuntu 22.04. For the remote computer, Ubuntu 22.04 Desktop should be installed. +it is highly recommended to use Ubuntu 22.04. For the offboard computer, Ubuntu 22.04 Desktop should be installed. ### Networking -The remote computer should be connected to the same Wi-Fi network as the robot computer, or should be connected via -ethernet. If connected over ethernet, set the static IP of the remote computer to use the `192.168.131.1/24` network +The offboard computer should be connected to the same Wi-Fi network as the robot computer, or should be connected via +ethernet. If connected over ethernet, set the static IP of the offboard computer to use the `192.168.131.1/24` network with an IP address that won't interfere with other devices on the network, such as `192.168.131.99`. ### ROS 2 Humble @@ -40,12 +40,12 @@ This package will install launch and configuration files for visualising and int ### Setup Folder -The remote computer will need a copy of the [robot.yaml](../config/yaml/overview.mdx) file to generate the same `setup.bash` +The offboard computer will need a copy of the [robot.yaml](../config/yaml/overview.mdx) file to generate the same `setup.bash` file as the robot. 1. **Create the folder** -For the remote computer we can create the `clearpath` folder in the home directory: +For the offboard computer we can create the `clearpath` folder in the home directory: ``` mkdir ~/clearpath/ @@ -58,7 +58,7 @@ cp /path/to/robot.yaml ~/clearpath/ ``` :::note -If you have workspaces defined in the `robot.yaml` that do not exist on the remote computer, remove them. +If you have workspaces defined in the `robot.yaml` that do not exist on the offboard computer, remove them. ::: 3. **Generate the `setup.bash` file** @@ -72,4 +72,6 @@ Add the following line to your `~/.bashrc` file to automatically source the gene ``` source ~/clearpath/setup.bash -``` \ No newline at end of file +``` + +4. If you are using Fast DDS Discovery Server, follow the instructions on the [ROS 2 networking page](../networking/ros2-networking.mdx#offboard-pc). \ No newline at end of file diff --git a/docs_versioned_docs/version-ros2humble/ros/installation/robot.mdx b/docs_versioned_docs/version-ros2humble/ros/installation/robot.mdx index b2149382..0919f264 100644 --- a/docs_versioned_docs/version-ros2humble/ros/installation/robot.mdx +++ b/docs_versioned_docs/version-ros2humble/ros/installation/robot.mdx @@ -7,8 +7,8 @@ toc_max_heading_level: 4 --- import ClearpathFirmware from "../../components/_clearpath_firmware.mdx"; -import StandardClearpathBridgeSetup from "../../components/_standard_clearpath_bridge_setup.mdx"; -import ComputerNetworkingSetupInstall from "../../components/_computer_networking_setup_install.mdx"; +import StandardClearpathBridgeSetup from "../../components/networking/_standard_clearpath_bridge_setup.mdx"; +import ComputerNetworkingSetupInstall from "../../components/networking/_computer_networking_setup_install.mdx"; ## Operating System (OS) {#operating-system} @@ -65,7 +65,7 @@ SSID, and `PASSWORD_GOES_HERE` with your Wi-Fi password. Save the file and call `sudo netplan apply` to apply the changes. Check `ip a` again to make sure that an IP address has been assigned to your Wi-Fi interface. -You should now be able to SSH into the robot by calling `ssh administrator@![]({require("./img/ros2-fastdds-simple-discovery-diagram.png").default})
+ ![]({require("./img/ros2-fastdds-discovery-server-diagram.png").default})
+ ![]({require("./img/ros2-fastdds-fully-connected-diagram.png").default})
+ ![]({require("./img/ros2-fastdds-command-center-diagram.png").default})
+