Merge branch 'main' of https://github.com/roboticsatiowa/Rover

Author: ethanholter

src/uirover_basestation/package.xml

@@ -7,11 +7,14 @@
   <maintainer email="[email protected]">ethan</maintainer>
   <license>TODO: License declaration</license>
 
+  <depend>foxglove_bridge</depend>
+
   <buildtool_depend>ament_cmake</buildtool_depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
 
+
   <export>
     <build_type>ament_cmake</build_type>
   </export>

src/uirover_moveit/config/joint_limits.yaml

@@ -11,30 +11,30 @@ joint_limits:
   arm_j0:
     has_velocity_limits: true
     max_velocity: 0.5
-    has_acceleration_limits: false
-    max_acceleration: 0
+    has_acceleration_limits: true
+    max_acceleration: 1.0
   arm_j1:
     has_velocity_limits: true
     max_velocity: 0.5
-    has_acceleration_limits: false
-    max_acceleration: 0
+    has_acceleration_limits: true
+    max_acceleration: 1.0
   arm_j2:
     has_velocity_limits: true
     max_velocity: 0.5
-    has_acceleration_limits: false
-    max_acceleration: 0
+    has_acceleration_limits: true
+    max_acceleration: 1.0
   arm_j3:
     has_velocity_limits: true
     max_velocity: 0.5
-    has_acceleration_limits: false
-    max_acceleration: 0
+    has_acceleration_limits: true
+    max_acceleration: 1.0
   arm_j4:
     has_velocity_limits: true
     max_velocity: 0.5
-    has_acceleration_limits: false
-    max_acceleration: 0
+    has_acceleration_limits: true
+    max_acceleration: 1.0
   arm_j5:
     has_velocity_limits: true
     max_velocity: 0.5
-    has_acceleration_limits: false
-    max_acceleration: 0
+    has_acceleration_limits: true
+    max_acceleration: 1.0

tools/misc/99-uirover-rt-limits.conf

@@ -0,0 +1,6 @@
+@realtime soft rtprio 99
+@realtime soft priority 99
+@realtime soft memlock unlimited
+@realtime hard rtprio 99
+@realtime hard priority 99
+@realtime hard memlock unlimited

tools/misc/99-uirover.rules renamed to tools/misc/99-uirover-udev.rules

@@ -5,5 +5,16 @@
 # view outgoing CAN messages using `candump vcan0` from the can-utils package.
 
 sudo modprobe vcan
-sudo ip link add dev vcan0 type vcan
-sudo ip link set up vcan0
+echo "vcan kernel module enabled"
+
+if ! ip link | grep -q vcan; then
+    sudo ip link add dev vcan0 type vcan
+    echo "Created vcan0 network device"
+else
+    echo "vcan0 already exists"
+fi
+
+sudo ip link set up vcan0
+echo "vcan0 enabled"
+echo
+echo "Virtual CANbus network device has been enabled. Run 'ip link show vcan0' to check"

tools/misc/enable_vcan.sh

@@ -0,0 +1,35 @@
+#!/usr/bin/env bash
+
+# https://control.ros.org/rolling/doc/ros2_control/controller_manager/doc/userdoc.html
+# The normal linux kernel is optimized for computational throughput and therefore is not well suited for hardware control.
+# This script adds custom limits to /etc/security/limits.d/ to allow users of the 'realtime' group to increase their
+# CPU scheduling priority. This gives ROS2 control more consistent behavior and reduces jitter in control loops.
+# For the best possible performance a 'real-time' kernel should be installed. Nvidia provides guides for this 
+# here: https://docs.nvidia.com/jetson/archives/r36.2/DeveloperGuide/SD/Kernel/KernelCustomization.html
+#
+#
+# IMPORTANT: It may not be advisable to install a realtime kernel on your personal machine. Proceed with caution
+
+SCRIPT_DIR=$( cd "$( dirname -- "${BASH_SOURCE[0]}" )" &> /dev/null && pwd )
+
+if ! cat "/etc/group" | grep -q realtime; then
+    sudo groupadd realtime
+    echo "Created realtime group"
+else
+    echo "realtime group already exists"
+fi
+
+if ! groups "$(whoami)" | grep -q realtime; then
+    sudo usermod -aG realtime "$(whoami)"
+    newgrp realtime
+    echo "Added $(whoami) to realtime group"
+else
+    echo "$(whoami) already in realtime group"
+fi
+
+if sudo cp "${SCRIPT_DIR}/99-uirover-rt-limits.conf" /etc/security/limits.d/; then
+    echo "Succesfully added security rules. Reboot to apply changes"
+else
+    echo "ERROR: Failed to add security rules"
+fi
+

tools/misc/setup_realtime.sh

@@ -40,11 +40,14 @@ else
     echo "Installing colcon-mixin"
     sudo apt update && sudo apt install -y python3-colcon-mixin
 fi
-MIXIN_URL="https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml"
-if ! colcon mixin list 2>/dev/null | grep -q "$MIXIN_URL"; then
-    colcon mixin add default "$MIXIN_URL"
-fi
+if [ -e "${HOME}/.colcon/mixin/default/compile-commands.mixin" ]; then
+    echo "Colcon mixins already initialized"
+else
+    colcon mixin add default "https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml" \
+    || echo "Default mixins repo already set"
 
+    colcon mixin update default
+fi
 # desktop_notification- console_stderr- disable annoying features of colcon
 # --continue-on-error continues building other packages even if one fails
 # --parallel-workers 0 uses all available CPU cores

tools/misc/symlink_udev.sh renamed to tools/misc/setup_udev.sh

@@ -5,6 +5,7 @@ WS_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )/../.." &> /dev/null && pwd )" #
 
 # other dependencies
 sudo apt install -y libopencv-dev python3-pip python3-catkin-pkg python3-venv mapproxy
+pip install catkin-pkg # for some reason the apt package alone doesn't work. catkin-pkg must be install through pip
 
 # gstreamer
 sudo apt install -y libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev libgstreamer-plugins-bad1.0-dev gstreamer1.0-plugins-base gstreamer1.0-plugins-good gstreamer1.0-plugins-bad gstreamer1.0-plugins-ugly gstreamer1.0-libav gstreamer1.0-tools gstreamer1.0-x gstreamer1.0-alsa gstreamer1.0-gl gstreamer1.0-gtk3 gstreamer1.0-qt5 gstreamer1.0-pulseaudio