project.txt

# CTU Bachelor Project - Working Notes

---

My Bachelor Project at CTU FEL

https://shouldiuseros2.com/

https://github.com/ament/ament_cmake/blob/master/ament_cmake_core/doc/resource_index.md

REP 2001 ROS Bouncy and Newer Variants
https://www.ros.org/reps/rep-2001.html
https://github.com/ros2/variants

---

build env:
	j ws
	rh sw foxy
	source ~/Sites/ros/ros2-additions/install/local_setup.bash
	colcon build --symlink-install --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=1
	rm -rf build/ install/ log/

clion startup env:
	j ws
	ros-vsc-sync
	rh dev

run env:
	j ws
	rh dev
	ros2 launch launchers stage_sample_ftg.launch.py
	car-start
	car-stop

	ros2 topic echo /stage_ros2/car/cmd_vel

---

PROBLEMS:

1. see ~/Sites/ros/ubuntu-ros/nvidia-jetson-tx2/TODO.md
2. perception/recognition/obstacle_substitution: extremely inefficient on TX2?
	* compare with Ubuntu 20
	* compare with ROS 1 Kinetic (both Ubuntu 16 and TX2)
		* Kinetic on Ubuntu 18? So we can compare its performance with Foxy?
        * https://answers.ros.org/question/297008/how-could-i-install-ros-on-ubuntu-18/
3. fixed build (tf2 dependency on tx2, stage on ubuntu20 and tx2)
4. build from sources > longer env setup
	* [Sourcing setup.bash on ROS2 takes considerably longer compared to ROS1](https://github.com/ros2/ros2/issues/573)
	* https://github.com/ros-infrastructure/ros_buildfarm
	* https://github.com/ros-infrastructure/ros_buildfarm/blob/master/doc/jobs/release_jobs.rst
	* https://github.com/ros-infrastructure/ros_buildfarm/tree/master/scripts/release
	* https://www.google.com/search?q=ros2+build+from+source+slow&oq=ros2+build+from+source+slow
5. no icons in rqt_* in ROS 2 on Ubuntu 20
	* the following commands do NOT help:
		* `sudo apt install tango-icon-theme`
		* `sudo apt install gnome-icon-theme`
	* might be related:
		* [ROS2 port: Button icons don't show in Mac/Windows](https://github.com/ros-visualization/rqt/issues/165)

---

PROGRESS:

1st build: Summary: 310 packages finished [2h 35min 6s]
2nd build (ros2-mini + stage + additional): Summary: 285 packages finished [1h 33min 44s]

nvidia

sd, ext4
boot

uboot

Podle toho zjistil, jsem potom naformátoval SD kartu jako ext4 s jednou partition, kam jsem překopíroval rootfs a upravil boot konfiguraci. Ve výsledku to funguje následovně:
1. U-Boot (který je vždy na skrytém partition interní eMMC) při spuštění vybere odkud se bude bootovat.
2. Pokud je připojená SD karta a na prvním oddíle existuje /boot/extlinux/extlinux.conf, načte boot konfiguraci odtamtud.
3. Jinak vezme /boot/extlinux/extlinux.conf z eMMC.
4. /boot/extlinux/extlinux.conf pak specifikuje odkud se mí vzít rootfs a jádro se vždy vezme z toho boot média.

nejnovější JetPack a L4T. Jetpack 4.5.1 (L4T 32.5.1) (Ubuntu 18.04.5)
# # R32 (release), REVISION: 5.1, GCID: 26202423, BOARD: t186ref, EABI: aarch64, DATE: Fri Feb 19 16:50:29 UTC 2021
# Linux tx2-ros2 4.9.201-tegra #1 SMP PREEMPT Tue Mar 2 19:53:23 PST 2021 aarch64 aarch64 aarch64 GNU/Linux

---

PLAN:

1. TX2 with ROS 2
	a ROS2 build
	b f1tenth build
	c boot from SD card

2. drive_api

3. ROS 2 on a real auto
	a Orbitty
	b VESC driver
		vesc_driver > only kinetic
			https://index.ros.org/r/vesc/github-f1tenth-vesc/#kinetic
			see this issue https://github.com/f1tenth/vesc/issues/5
	c LIDAR
		urg_node
		https://github.com/f1tenth/f1tenth_system/tree/master/hokuyo_node

		https://github.com/ros-drivers/urg_node/tree/foxy-devel

		https://github.com/bponsler/urg_node/tree/ros2-devel

		https://github.com/YDLIDAR/ydlidar_ros2

		https://velodynelidar.com/
		https://index.ros.org/p/velodyne_driver/#foxy

4. follow_the_gap_v0 compare
	works (no crashes)
	CPU load
	ROS 1:
	ROS 2:

	ROS 2 tracepoints
		https://index.ros.org/r/ros2_tracing/
		lltng
		lttng module version >=2.10.7 required, found 2.10.2

5. address_sanitizer (enable during build) and/or Valgrind

---

REALTIME:

* temp:
	* https://micro.ros.org/docs/tutorials/advanced/tracing/
	* https://github.com/ros2/performance_test
	* https://www.f0cal.com/
	* http://linuxgizmos.com/cloud-based-test-farm-lets-you-check-out-edge-ai-software-on-linux-dev-boards/

* Real-time programming in ROS 2
	https://docs.ros.org/en/foxy/Tutorials/Real-Time-Programming.html

* PAPER: Latency Overhead of ROS2 for Modular Time-Critical Systems
	* https://arxiv.org/pdf/2101.02074.pdf
	* ROS Discourse thread: https://discourse.ros.org/t/ros2-latency-using-different-node-setups/18335

* PAPER: Response-Time Analysis of ROS 2 Processing Chains Under Reservation-Based Scheduling
	* http://dx.doi.org/10.4230/LIPIcs.ECRTS.2019.6
	* https://github.com/boschresearch/ros2_response_time_analysis

* https://github.com/ros2/realtime_support/tree/master/rttest

* LTTng + ros2_tracing
	https://gitlab.com/ros-tracing/ros2_tracing

* lttng module version >=2.10.7 required, found 2.10.2 (ros2cli on tx2)
	* https://lttng.org/docs/#doc-ubuntu

* ROScon 2019: Apex.AI - Doing Real-Time with ROS 2: Capabilities and Challenges
	* https://www.apex.ai/roscon2019

* ROS 2 Real-Time Working Group
	* https://github.com/ros-realtime/community
	* https://real-time-working-group.readthedocs.io/en/latest/
	* RTWG meeting notes: https://docs.google.com/document/d/1zBKwDUDeWvJNyCvjzYriaZQoZO2VYGWe1uxw5Xxn5cY/edit
	* original proposal for establishing RTWG: * https://discourse.ros.org/t/ros-2-and-real-time/8796
	* tools:
		* https://real-time-working-group.readthedocs.io/en/latest/Related-Projects/related_projects.html
		* https://github.com/hsgwa/ros2_timer_latency_measurement/blob/master/setup.foxy.md

---

ROS 2 EXPLANATION:

https://discourse.ros.org/t/ros2-global-parameter-server-status/10114
https://github.com/fujitatomoya/ros2_persist_parameter_server

global_param
	Node

ros master

ros nodes


ROS Services

dynamic_reconfigure


rclpy / rclcpp
|
rcl C bin
|
rmw
|
dds impl. (ePrisma FastDDS)

colcon catkin_isolated
	amnent
		cmake
		ament_cmake
			Python
			C++
			C
			IDL
			launch Python scripts
		ament_python
			Python
			setuptools
			launch Python scripts

ament

---

ROS LINKS

https://docs.ros.org/en/foxy/Tutorials.html
https://docs.ros.org/en/foxy/Guides.html
https://index.ros.org/
https://pypi.org/

https://github.com/ros2/demos
https://github.com/ros2/demos/tree/foxy/quality_of_service_demo
https://answers.ros.org/question/322636/ros2-access-current-launchconfiguration/?answer=359167#post-id-359167
https://answers.ros.org/question/340705/access-launch-argument-in-launchfile-ros2/

https://setuptools.readthedocs.io/en/latest/index.html

# TODO: https://answers.ros.org/question/358343/rate-and-sleep-function-in-rclpy-library-for-ros2/
# TODO: https://nicolovaligi.com/concurrency-and-parallelism-in-ros1-and-ros2-application-apis.html
# TODO: https://yuzhangbit.github.io/tools/several-ways-of-writing-a-ros-node/

https://docs.ros.org/en/foxy/Concepts/About-Composition.html

https://answers.ros.org/question/363630/how-to-install-a-python-file-with-ament_cmake/

https://osrf.github.io/ros2multirobotbook/ros2_api.html

https://answers.ros.org/question/365051/using-ros2-offline-ros_localhost_only1/

https://answers.ros.org/question/312409/converting-dynamic-reconfigure-to-ros2-parameters/

Package Manifest Format Three Specification <package format="3">
	https://ros.org/reps/rep-0149.html

TODO: https://docs.ros.org/en/foxy/Tutorials/Actions/Creating-an-Action.html

https://www.ros-howto.com/question/371889-ros2-ros2-doctor-userwarning-pkg-has-been-updated-to-a-new-version

https://github.com/ros2/examples/tree/foxy/rclpy

https://ubuntu.com/blog/ros-2-command-line-interface

https://www.allaban.me/posts/2020/08/ros2-setup-ide-docker/

colcon build
	--packages-up-to
		builds the package you want, plus all its dependencies, but not the whole workspace (saves time)

	--symlink-install
		saves you from having to rebuild every time you tweak python scripts

	--event-handlers console_direct+
		shows console output while building (can otherwise be found in the log directory)

https://index.ros.org/doc/ros2/Contributing/Migration-Guide/

http://wiki.ros.org/ROS/Tutorials/WhereNext

https://docs.ros.org/en/kinetic/api/catkin/html/index.html
https://docs.ros.org/en/melodic/api/catkin/html/index.html
https://docs.ros.org/en/noetic/api/catkin/html/index.html
https://docs.ros.org/en/api/catkin/html/index.html

https://hub.docker.com/_/ros?tab=description&page=1&ordering=last_updated

https://nomnoml.com/

https://github.com/osrf/docker_images/blob/master/ros/kinetic/ubuntu/xenial/desktop-full/Dockerfile

https://github.com/osrf/docker_images/tree/master/ros/kinetic/ubuntu/xenial

https://github.com/ros2
https://en.wikipedia.org/wiki/Data_Distribution_Service
https://github.com/ros2/freertps
http://wiki.ros.org/ROS/Concepts
https://zeromq.org/
https://nanomsg.org/
https://index.ros.org/doc/ros2/Concepts/
https://index.ros.org/doc/ros2/Concepts/About-Different-Middleware-Vendors/
https://design.ros2.org/articles/ros_on_dds.html
https://capnproto.org/
[ZeroMQ vs Redis](https://gist.github.com/hmartiro/85b89858d2c12ae1a0f9)

---

FTG ROS 1 on Ubuntu 16:

	nodes:
		/drive_api
		/follow_the_gap_ride_ubuntu16_ros_...
		/follow_the_gap_ubuntu16_ros_...
		/recognition_obstacle_sub
		/rosout
		/stage_simulator
		/tf_base_laser_link
		/tf_odom_map

	params:

		/drive_api/speed_modifier
		/drive_api/steer_modifier
		/follow_the_gap_ride_ubuntu16_ros_.../Hysteresis_L12
		/follow_the_gap_ride_ubuntu16_ros_.../Hysteresis_L23
		/follow_the_gap_ride_ubuntu16_ros_.../Speed_avoid
		/follow_the_gap_ride_ubuntu16_ros_.../Speed_max
		/follow_the_gap_ride_ubuntu16_ros_.../Speed_min
		/follow_the_gap_ride_ubuntu16_ros_.../Switch_L12
		/follow_the_gap_ride_ubuntu16_ros_.../Switch_L23
		/follow_the_gap_ride_ubuntu16_ros_.../TurnL_avoid
		/follow_the_gap_ride_ubuntu16_ros_.../TurnL_max
		/follow_the_gap_ride_ubuntu16_ros_.../TurnL_min
		/follow_the_gap_ride_ubuntu16_ros_.../TurnR_avoid
		/follow_the_gap_ride_ubuntu16_ros_.../TurnR_max
		/follow_the_gap_ride_ubuntu16_ros_.../TurnR_min
		/rosdistro
		/roslaunch/uris/host_ubuntu16_ros__39445
		/rosversion
		/run_id
		/use_sim_time

		drive_api: {speed_modifier: 7.26, steer_modifier: 0.7}
		follow_the_gap_ride_ubuntu16_ros_19722_6785051304590735534: {Hysteresis_L12: 5.0,
		  Hysteresis_L23: 5.0, Speed_avoid: 0.098602794, Speed_max: 0.158483034, Speed_min: 0.138522954,
		  Switch_L12: 20.0, Switch_L23: 41.0, TurnL_avoid: 1.419354839, TurnL_max: 1.0, TurnL_min: 0.677419355,
		  TurnR_avoid: 1.290322581, TurnR_max: 0.709677419, TurnR_min: 0.677419355}

	topics:

		/base_pose_ground_truth
		/base_scan
		/camera_info
		/clock
		/cmd_vel
		/command
		/depth
		/drive_api/command
		/eStop
		/final_heading_angle
		/follow_the_gap_ride_ubuntu16_ros_19722_6785051304590735534/parameter_descriptions
		/follow_the_gap_ride_ubuntu16_ros_19722_6785051304590735534/parameter_updates
		/ftg/angle/hyster
		/ftg/angle/hyster_a
		/ftg/angle/switch
		/ftg/angle/switch_a
		/ftg/filter/alpha
		/ftg/speed/avoidF
		/ftg/speed/maxF
		/ftg/speed/minF
		/ftg/turn/left/avoidF
		/ftg/turn/left/maxF
		/ftg/turn/left/minF
		/ftg/turn/right/avoidF
		/ftg/turn/right/maxF
		/ftg/turn/right/minF
		/gap_found
		/image
		/left_constraint_index
		/lsr/angle
		/obstacles
		/odom
		/right_constraint_index
		/rosout
		/rosout_agg
		/scan
		/tf
		/visualize_final_heading_angle
		/visualize_largest_gap
		/visualize_obstacles

---

f1tenth ROS 1 build:

Running command: "cmake /home/pokusew/remote/f1tenth/base_overlay/src -DCATKIN_BLACKLIST_PACKAGES=ceres-solver;cartographer -DCMAKE_BUILD_TYPE=Release -DCATKIN_ENABLE_TESTING=False -DCATKIN_DEVEL_PREFIX=/home/pokusew/remote/f1tenth/base_overlay/devel -DCMAKE_INSTALL_PREFIX=/home/pokusew/remote/f1tenth/base_overlay/install -G Unix Makefiles" in "/home/pokusew/remote/f1tenth/base_overlay/build"

Stage 4.1.1

Orbitty
VESC
Lidar
IMU
Teensy
Intel RealSense

System dependencies have not been satisfied:
apt	ros-kinetic-razor-imu-9dof
apt	libgflags-dev
apt	python-scipy
apt	ros-kinetic-urg-node
apt	protobuf-compiler
apt	ros-kinetic-serial
apt	ros-kinetic-ackermann-msgs
apt	python-sphinx
apt	libatlas-base-dev
apt	liblua5.2-dev
apt	libgoogle-glog-dev
apt	ros-kinetic-sick-tim
apt	libopencv-dev
apt	ros-kinetic-imu-filter-madgwick
apt	libsuitesparse-dev
apt	ros-kinetic-rosserial-python

git submodule update --init --recursive

cd src/auxiliary/googlecartographer_ros/
sudo apt-get install ninja-build

follow ./README.md:
cartographer/scripts/install_proto3.sh

then README.md of src/auxiliary/obstacle_detector

catkin_make -DCATKIN_BLACKLIST_PACKAGES="ceres-solver;cartographer;follow_the_gap_v0" -DCMAKE_BUILD_TYPE=Release -DCATKIN_ENABLE_TESTING=False

---

INTERESTING:

* F1/10 Race
	* https://f1tenth.dev/
	* https://github.com/f1tenth-dev
	* https://linklab-uva.github.io/autonomousracing/

* [Pyroscope](https://github.com/pyroscope-io/pyroscope)
	* 🔥 Continuous Profiling Platform 🔥 Debug performance issues down to a single line of code

* Apex.AI / Apex.OS
	* https://www.apex.ai/apex-os
	* https://gitlab.com/ApexAI

* Toyota Selects ROS-Based Apex.os to Underpin Automated Vehicle Platform
	* https://www.forbes.com/sites/samabuelsamid/2021/04/14/toyota-selects-apexos-to-underpin-automated-vehicle-platform/?sh=2198d8b0163a

* [The Construct: A Platform to Learn ROS-based Advanced Robotics Online](https://www.theconstructsim.com/)

* [HackerNews: ROS](https://hn.algolia.com/?dateRange=all&page=0&prefix=false&query=ros&sort=byDate&type=story)

* ROS integration of LaMa - a Localization and Mapping package from the Intelligent Robotics and Systems (IRIS) Laboratory, University of Aveiro
	* It provides 2D Localization and SLAM. It works great on a TurtleBot2 with a Raspberry Pi 3 Model B+ and an Hokuyo (Rapid URG).
	* https://github.com/iris-ua/iris_lama_ros
	* https://github.com/iris-ua/iris_lama

* Autoware

	Autoware
	========
	``The Autoware Foundation is a non-profit organization supporting open-source
	projects enabling self-driving mobility.''
	- https://www.autoware.org/
	- https://www.autoware.ai/
	- https://www.autoware.io/
	- https://www.autoware.auto/
	Autoware.AI
	-----------
	- https://github.com/Autoware-AI
	- ROS 1
	- Localization
	- Detection
	- Prediction and Planning
	- Output: twist of velocity and angular velocity
	I think this is something we already have with f1t. I think it's not worthy
	trying due to ROS 1 and different architecture.
	Autoware.Auto
	-------------
	- https://gitlab.com/autowarefoundation/autoware.auto
	- https://gitlab.com/autowarefoundation/autoware.auto/AutowareAuto
	I think we should try Autoware.Auto on f1t as part of migration to ROS 2.
	Related and may be interesting: https://openadx.eclipse.org/
	Autoware.IO
	-----------
	- Check the simulator: https://www.lgsvlsimulator.com/
	- Different HW platforms
	I think we should check out the simulator and other components. Maybe some
	student for that?
	Related and may be interesting: https://iot.eclipse.org/

* MIT RACECAR
	* https://mitll-racecar-mn.readthedocs.io/en/latest/

---

OTHER:

* [How to start a GUI software on a remote Linux PC via SSH
](https://askubuntu.com/questions/47642/how-to-start-a-gui-software-on-a-remote-linux-pc-via-ssh)

* [Permanent hostname change on Ubuntu](https://askubuntu.com/questions/816449/permanent-hostname-change-on-ubuntu)

* [Changed hostname, closed before changing hosts, now sudo is broken, catch-22!](https://askubuntu.com/questions/319265/changed-hostname-closed-before-changing-hosts-now-sudo-is-broken-catch-22?rq=1)

* [Git Tools - Submodules](https://git-scm.com/book/en/v2/Git-Tools-Submodules)

* auto env change / shell tools
	* https://direnv.net/
	* http://modules.sourceforge.net/

* [VSCode Git: support HEAD <> working tree changes in gutter](https://github.com/Microsoft/vscode/issues/60389)

* https://github.com/lehmannro/assert.sh

* [Which USB to TTL converter](https://forum.arduino.cc/index.php?topic=383469.0)

* Segger
	* [Segger J-Link vs. JTAG Programmer?](https://electronics.stackexchange.com/questions/332386/segger-j-link-vs-jtag-programmer)

* USB 3.0 extension cable
* microUSB cables

* [Control linux console session keyboard over ssh](https://superuser.com/questions/322658/control-linux-console-session-keyboard-over-ssh)
	* https://github.com/debauchee/barrier
	* https://github.com/symless/synergy-core
	* https://symless.com/synergy

* [Network service discovery disabled: What does this mean for me?](https://askubuntu.com/questions/339702/network-service-discovery-disabled-what-does-this-mean-for-me)

* [Why does my hostname appear with the address 127.0.1.1 rather than 127.0.0.1 in /etc/hosts?](https://serverfault.com/questions/363095/why-does-my-hostname-appear-with-the-address-127-0-1-1-rather-than-127-0-0-1-in)

* [SSH server on Ubuntu](https://linuxize.com/post/how-to-enable-ssh-on-ubuntu-18-04/)

* Honeywell NXP i.MX 8 GPU benchmarks
	* https://www.eembc.org/adasmark/
	* EEMBC ADASMark
	* OpenCL

* VMware Fusion
	* shared folders
		* https://askubuntu.com/questions/377029/change-ownership-of-vmware-fusion-shared-folder
		* `sudo umount /mnt/hgfs`
		* `vmhgfs-fuse .host:/ros /home/pokusew/ros -o uid=1000 -o gid=1000`
	* mouse wheel problems in GNOME
		* https://superuser.com/questions/1270811/inconsistent-and-erratic-mouse-wheel-in-linux-while-moving-the-mouse-pointer
		* https://communities.vmware.com/t5/VMware-Fusion-Discussions/Mouse-wheel-scrolling-skips-clicks/td-p/463246
		* https://askubuntu.com/questions/255890/how-can-i-adjust-the-mouse-scroll-speed

---