Waterloo Steel:Platform Development

Table of Contents

[Last generated: Wed 4 Oct 2023 14:07:37 EDT]

• 1. Waterloo Steel Robot Manual Launch Instructions 🚧
  • 1.1 Adlink MXE 211 (SUMMIT + Lidar PC)
    • 1.1.0 Reset Workspace:
    • 1.1.1 PS Controller:
    • 1.1.2 Summit XL Bringup:
  • 1.2 Jetson Orin (WAM + Vision PC)
    • 1.2.1 WAM:
    • 1.2.2 ZED:
  • 1.3 Steam Deck Controller
    • 1.3.1 Launch through Icons:
    • 1.3.2 Launch through terminals:
      • 1.3.2.1 Launch Pad
      • 1.3.2.2 Launch Rviz
• 2. Unified Development 🚧
• 3. Usage Guide With Tool Chain and Workspace:
• Appendix A - File Arch
  • A.1 xacro and launching
  • A.2 ROS
    • A.2.1 ROS Profiling
      • a) GDB:
      • b) Valgrind:
    • A.2.2 ROS Profiling with rosrun:
  • A.3 Common Issues:
    • A.3.1 Error of catkin build: Unable to find source space ....

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1. Waterloo Steel Robot Manual Launch Instructions 🚧

1. MXE 211 should auto-launch the summit-xl

   1. If you need to check status, refer to 1.1 Adlink MXE 211 (SUMMIT + Lidar PC) below.

2. Interfacing on-board computers:

   1. SSH:

      # Jetson:
      ssh uwarl-orin@192.168.1.10
      # Adlink:
      ssh uwarl@192.168.1.11
      # Internal-WAM PC:
      ssh robot@192.168.1.40

3. All shortcuts came with auto-configuration:

   # sync across multi platform:
   #   - but make sure the config is pointing at the same branch across platforms
   $ sync_latest 
   
   # update (pull recursively in a batch) of the entire workspace with all required submodules (as noted in common.sh) from anywhere
   $ update_ws
   # build ws from anywhere
   $ build_ws
   # source ws from anywhere
   $ src_ws
   # source ~/.zshrc from anywhere
   $ src_zsh
   # cd into workspace from anywhere
   $ cd_ws
   # check wworkspace status from anywhere
   $ check_ws_status
   # cd into robot_configs from anywhere
   $ cd_config
   
   # auto-gen Table of Contents for a specific markdown file
   $ md_toc README.md 
   # auto-gen Table of Contents for a specific directory containing all markdown files
   $ md_toc_dir docs

1.1 Adlink MXE 211 (SUMMIT + Lidar PC)

1.1.0 Reset Workspace:

$ rm -rf ~/UWARL_catkin_ws
$ cd_config
$ ./scripts/auto-config_UWARL_catkin_ws.zsh

1.1.1 PS Controller:

# check driver status
$ systemctl status ds4drv.service

1.1.2 Summit XL Bringup:

1. Power on the robot, wait for computers to auto-boot

2. Check if default launch successful:

   # SSH into adlink mxe211 (summit)
   $ ssh uwarl@192.168.1.11
   
   # check if summit bringup is successful
   $ systemctl status --user roscorelaunch@waterloo_steel_summit_bringup:waterloo_steel_summit.launch
   
   # stop/restart
   $ systemctl stop/restart --user roscorelaunch@waterloo_steel_summit_bringup:waterloo_steel_summit.launch
   
   # [DEBUG]
   $ journalctl --user --user-unit=roscorelaunch@waterloo_steel_summit_bringup:waterloo_steel_summit.launch > log.txt
   # [DEBUG] - Live Stream:
   $ journalctl --follow --user --user-unit=roscorelaunch@waterloo_steel_summit_bringup:waterloo_steel_summit.launch

1.2 Jetson Orin (WAM + Vision PC)

1.2.1 WAM:

# launch wam node:
$ roslaunch wam_node wam_node.launch

# example commands:
$ rosservice call /wam/go_home                                                                         
$ rosservice call /wam/joint_move "joints:                                                            
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0"

1.2.2 ZED:

$ roslaunch zed_wrapper zed.launch

1.3 Steam Deck Controller

1.3.1 Launch through Icons:

• 1️⃣ > Launch Pad
• 2️⃣ > Rviz Viewer

1.3.2 Launch through terminals:

1.3.2.1 Launch Pad

$ roslaunch summit_xl_pad waterloo_steel_summit_deck.launch

1.3.2.2 Launch Rviz

$ rosrun rviz rviz

2. Unified Development 🚧

• See up-to-date details from: *2. ⭐ Unified Development 🚧 [Local PC / Summit / WAM] (Melodic/Noetic):*

3. Usage Guide With Tool Chain and Workspace:

• See up-to-date details from: *3. ROS UWARL_catkin_ws Usage Guide:*

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Appendix A - File Arch

A.1 xacro and launching

[TODO]

A.2 ROS

A.2.1 ROS Profiling

• Reads:
  • Read More about [Debugging and profiling ROS nodes]
  • Valgrind:https://valgrind.org
  • https://answers.ros.org/question/28383/time-consumption-profiling/
  • ROS valgrind: https://wiki.ros.org/roslaunch/Tutorials/Roslaunch%20Nodes%20in%20Valgrind%20or%20GDB
    • Kcachegrind: https://wiki.ros.org/roslaunch/Tutorials/Profiling%20roslaunch%20nodes

a) GDB:

$ build_ws -DCMAKE_BUILD_TYPE=Debug

# in roslaunch file:
<launch>
  <node name="wam_node" type="wam_node" pkg="wam_node" output="screen" 
    launch-prefix="gdb -ex run --args"
  />
</launch>

b) Valgrind:

• Install:

  • $ sudo apt -y install valgrind
    $ sudo apt-get install kcachegrind # visualizer:
    
    #### roslaunch file add prefix:
    <launch>
      <node name="wam_node" type="wam_node" pkg="wam_node" output="screen" 
        launch-prefix="valgrind --tool=callgrind  
          --log-file=/home/uwarl-orin/JX_Logs/valgrind.log 
          --callgrind-out-file='/home/uwarl-orin/JX_Logs/callgrind.wam_node.%p'"
      />
    </launch>

• Instructions:

  • $ build_ws -DCMAKE_BUILD_TYPE=Debug
    
    # enable core dumps:
    $ ulimit -a	# check limits
    $ ulimit -c unlimited  # unlimited
    
    # allow core dumps to be created:
    $ sudo echo 1 > /proc/sys/kernel/core_uses_pid

A.2.2 ROS Profiling with rosrun:

Instructions:

• # make sure build with debug:
  $ build_ws -DCMAKE_BUILD_TYPE=Debug
  # OR:
  $ build_ws_debug
  
  # normal program run:
  $ rosrun vins vins_node $cam_config_file_path
  
  # run with valgrind:
  $ rosrun_valgrind vins vins_node $cam_config_file_path
  
  # -> check error causing memory dump:
  $ cat $HOME/valgrind_log.txt
  ##### OUTPUT:
  ==134393== Memcheck, a memory error detector
  ==134393== Copyright (C) 2002-2017, and GNU GPL'd, by Julian Seward et al.
  ==134393== Using Valgrind-3.15.0 and LibVEX; rerun with -h for copyright info
  ==134393== Command: /home/parallels/UWARL_catkin_ws/devel/lib/vins/vins_node /home/parallels/UWARL_catkin_ws/src/vins-research-pkg/VINS-Fusion/config/uwarl_d455/mono_rgb_imu_config_dual.yaml
  ==134393== Parent PID: 134030
  ==134393==
  ==134393== Thread 7:
  ==134393== Invalid read of size 8
  ==134393==    at 0x4936B20: shared_count (shared_count.hpp:433)
  ==134393==    by 0x4936B20: shared_ptr (shared_ptr.hpp:422)
  ==134393==    by 0x4936B20: FeatureTracker::trackImage(double, cv::Mat const&, cv::Mat const&) (feature_tracker.cpp:199)
  ==134393==    by 0x48B184B: Estimator::inputImage(double, cv::Mat const&, cv::Mat const&) (estimator.cpp:167)
  ==134393==    by 0x19BCAB: sync_process() (rosNodeTest.cpp:126)
  ==134393==    by 0x56B2FAB: ??? (in /usr/lib/aarch64-linux-gnu/libstdc++.so.6.0.28)
  ==134393==    by 0x4E72623: start_thread (pthread_create.c:477)
  ==134393==    by 0x596B49B: thread_start (clone.S:78)
  ==134393==  Address 0x8 is not stack'd, malloc'd or (recently) free'd
  ==134393==

• # options:
  $ rosrun_gdb
  $ rosrun_valgrind

A.3 Common Issues:

A.3.1 Error of catkin build: Unable to find source space ....

rm -rf ~/.catkin_tools

• Ref

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