Camera user interface

README.md

@@ -99,6 +99,8 @@ devcontainer build --push true --workspace-folder . --platform="linux/amd64,linu
 <details>
 <summary>How to Run Inside the ISAAC ROS Container on Linux/Jetson</summary>
 <br>
+** FOR MORE INFO ON UPDATING AND USING DOCKER STUFF, SEE THE README INSIDE THE `docker` directory **
+
 First, you will need to log in to Nvidia NGC and get an API Key here: https://org.ngc.nvidia.com/setup
 
 Then install Nvidia ngc CLI and make sure it is present in path: https://org.ngc.nvidia.com/setup/installers/cli

arduino/sensors/sensors.ino

@@ -1,13 +1,12 @@
 // Define a struct to hold the sensor data
 struct SensorData {
-  int leftMotorPotentiometer;
-  int rightMotorPotentiometer;
-  bool bottomLimitSwitch;
+  bool dumpLimitSwitch;
+  bool extensionLimitSwitch;
 };
 
 // Define the sensor pins here
-#define LEFT_MOTOR_POT_PIN A0
-#define RIGHT_MOTOR_POT_PIN A1
+#define DUMP_LIMIT_SWITCH 12
+#define EXTENSION_LIMIT_SWITCH 13
 #define RELAY_PIN 7
 
 void setup() {
@@ -17,6 +16,9 @@ void setup() {
   pinMode(RELAY_PIN, OUTPUT);  // Set relay pin as an output
   digitalWrite(RELAY_PIN, LOW);  // Ensure the motor is off at the start
 
+  pinMode(DUMP_LIMIT_SWITCH, INPUT_PULLUP);
+  pinMode(EXTENSION_LIMIT_SWITCH, INPUT_PULLUP);
+
   // No need to configure analog pins explicitly for potentiometers
   // as they are used as inputs by default.
 }
@@ -26,10 +28,8 @@ void loop() {
   SensorData data;
 
   // Read from the analog inputs (potentiometers)
-  data.leftMotorPotentiometer = analogRead(LEFT_MOTOR_POT_PIN);  // Read left motor potentiometer value
-  data.rightMotorPotentiometer = analogRead(RIGHT_MOTOR_POT_PIN); // Read right motor potentiometer value
-
-  data.bottomLimitSwitch  = analogRead(bottom_limit_switch); //bottom limit switch value
+  data.dumpLimitSwitch = digitalRead(DUMP_LIMIT_SWITCH);
+  data.extensionLimitSwitch  = digitalRead(EXTENSION_LIMIT_SWITCH);
 
   // Send the struct over the serial bus to the Nvidia Jetson
   Serial.write((byte *)&data, sizeof(SensorData));

config/auger_config.yaml

@@ -1,21 +1,17 @@
 /**:
   ros__parameters:
     #TODO: Figure out all of these values
-    SCREW_SPEED: 4000 # TODO: update
+    SCREW_SPEED: 20000 # TODO: update
     POWER_LIMIT: 1 #TODO: update
-    MAX_SCREW_SPEED: 4000 # in RPM
-    MIN_SCREW_SPEED: 2000 # in RPM TODO: This is a guess
-    MAX_RETRACT_PUSH_MOTOR_VELOCITY: -600 # in RPM, potentially could be faster
-    MAX_EXTEND_PUSH_MOTOR_VELOCITY: 600 # in RPM
-    push_motor_position: 0
-    tilt_actuator_position: 0
-    TILT_ACTUATOR_CURRENT_THRESHOLD: 0
-    MAX_PUSH_MOTOR_POSITION: 0
-    MIN_PUSH_MOTOR_POSITION: 0
+    FAST_SCREW_SPEED: 20000 #0.21
+    extension_limit_switch: true
+    STOWED: true
+    MAX_PUSH_MOTOR_POSITION: 10000
+    MIN_PUSH_MOTOR_POSITION: 1000
     PUSH_MOTOR_POS_TOLERANCE: 0
     MAX_PUSH_MOTOR_VELOCITY: 0
-    TILT_ACTUATOR_SPEED: 0
+    TILT_ACTUATOR_SPEED: 1.0
     TILT_ACTUATOR_MIN_EXTENSION: 0
-    TILT_ACTUATOR_ID: 0
-    PUSH_MOTOR_ID: 0
-    SPIN_MOTOR_ID: 0
+    TILT_ACTUATOR_ID: 1
+    PUSH_MOTOR_ID: 3
+    SPIN_MOTOR_ID: 4

config/dumper_config.yaml

@@ -1,3 +1,3 @@
 /**:
   ros__parameters:
-    DUMPER_POWER: 0.75 # The power the dumper needs to go
+    DUMPER_POWER: -0.75 # The power the dumper needs to go

config/motor_control.yaml

@@ -2,10 +2,11 @@
   ros__parameters:
     CAN_INTERFACE_TRANSMIT: "can0" # can0, can1, slcan0, slcan1 are common values
     CAN_INTERFACE_RECEIVE: "can0" # can0, can1, slcan0, slcan1 are common values
-    BACK_LEFT_DRIVE: 5 # CAN ID of the back left drive motor
-    FRONT_LEFT_DRIVE: 3 # CAN ID of the front left drive motor
-    BACK_RIGHT_DRIVE: 1 # CAN ID of the back right drive motor
-    FRONT_RIGHT_DRIVE: 6 # CAN ID of the front right drive motor
+    CAN_INTERFACE: "can0" # can0, can1, slcan0, slcan1 are common values
+    BACK_LEFT_DRIVE: 6 # CAN ID of the back left drive motor
+    FRONT_LEFT_DRIVE: 8 # CAN ID of the front left drive motor
+    BACK_RIGHT_DRIVE: 7 # CAN ID of the back right drive motor
+    FRONT_RIGHT_DRIVE: 5 # CAN ID of the front right drive motor
     DIGGER_MOTOR: 10 # CAN ID of the digger chain motor
     DIGGER_LEFT_LINEAR_ACTUATOR: 8 # CAN ID of the left linear actuator
     DIGGER_RIGHT_LINEAR_ACTUATOR: 7 # CAN ID of the right linear actuator
@@ -16,7 +17,7 @@
     DIGGER_ACTUATORS_kP_coupling: 0.004 # kP for digger actuator position syncing
     DIGGER_PITCH_kP: 2.5 # kP for tipping while digging
     TIPPING_SPEED_ADJUSTMENT: false # determines if pitch speed adjustment is used
-    DIGGER_SAFETY_ZONE: 120 # Measured in potentiometer units (0 to 1023)
+    EXTENSION_SAFETY_ZONE: 0 # Measured in potentiometer units (0 to 1023)
     CURRENT_SPIKE_THRESHOLD: 1.8 # Threshold for current spike detection (measured in Amps)
     CURRENT_SPIKE_TIME: 0.2 # Time in seconds to consider it a current spike (measured in seconds)
     BUCKETS_CURRENT_SPIKE_THRESHOLD: 12.0 # Threshold for current spike detection (measured in Amps)

config/rovr_control.yaml

@@ -7,7 +7,7 @@
     digger_lift_manual_power_up: 0.5 # Measured in Duty Cycle (0.0-1.0)
     autonomous_field_type: "cosmic" # The type of field ("cosmic", "top", "bottom", "nasa")
     tilt_digging_start_position: 125.0 # Measured in potentiometer units (0 to 1023)
-    fast_screw_speed: 4000
+    fast_screw_speed: 20000
     slow_screw_speed: 2000
     # Auto Dig cost starts at max_dig_cost, and increases to absolute_max_dig_cost
     absolute_max_dig_cost: 200 # Measured as a Costmap grid value (0-255) # TODO: tune this

docker/Dockerfile.deepstream

@@ -5,7 +5,9 @@ RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o
 
 COPY deepstream/deepstream.deb deepstream.deb
 
-RUN --mount=type=cache,target=/var/cache/apt apt-get update && apt-get install -y \
+RUN --mount=type=cache,target=/var/cache/apt \
+    apt-get update --allow-releaseinfo-change && \
+    apt-get install -y --no-install-recommends \
     gstreamer1.0-tools \
     gstreamer1.0-plugins-base \
     gstreamer1.0-plugins-good \

docker/Dockerfile.umn

@@ -43,11 +43,14 @@ RUN --mount=type=cache,target=/var/cache/apt apt-get update  && apt-get install
     libudev-dev \
     libusb-1.0-0-dev \
     libhidapi-libusb0 \
+    libxcb-cursor0 \
     && rm -rf /var/lib/apt/lists/*
 
 RUN python3 -m pip install -U \
     pyvista \
-    streamdeck
+    streamdeck \
+    PySide6 \
+    av
 
 RUN echo 'SUBSYSTEM=="usb", ATTR{idVendor}=="0fd9", MODE="0666"' | sudo tee /etc/udev/rules.d/99-streamdeck.rules
 

docker/README.md

@@ -9,6 +9,9 @@ Find the highest level image of this build with docker image list. The highest l
 Tag this image as `umnrobotics/<repo-name>:<image-layers-separated-by->_<HASH>`
 At time of writing, we were tagging images as 'umnrobotics/isaac_ros3.1:x86_64-ros2_humble-realsense-deepstream-user-zed-umn-gazebo_d000f8df5f3859fd56c7459b2ad3a718'
 
+to find the hash, run the build command again, and find the first line starting with "Checking if base image ... exists on remote repository. 
+The image ID listed here is the one you should use. It is generated based on the dockerfiles in mysterious ways, so just copy paste it from the terminal log.
+
 
 If you are logged in to docker, running docker image push will push this image to the cloud, and you are done. If you changed the name of/created a new dockerhub repo, update BASE_DOCKER_REGISTRY_NAMES in /scripts/build_image.sh to reflect the new name. 
 

scripts/can_reset.sh

@@ -0,0 +1,5 @@
+#!/bin/bash
+sudo ip link set can0 down
+sudo ip link set can0 type can restart-ms 100
+sudo ip link set can0 up
+candump can0

scripts/enter_isaac_ros_container.sh

@@ -1,7 +1,21 @@
 #!/bin/bash
 printf 'CONFIG_DOCKER_SEARCH_DIRS="$HOME/Lunabotics/src/isaac_ros/isaac_ros_common/scripts/../../../../docker"\n BASE_DOCKER_REGISTRY_NAMES="umnrobotics/isaac_ros3.1"\n'> ~/.isaac_ros_common-config
 image_key="ros2_humble.deepstream.user.zed.umn.gazebo"
-docker_arg="-v /usr/local/zed/resources:/usr/local/zed/resources -v $HOME/rosbags:/rosbags -v /usr/local/zed/settings:/usr/local/zed/settings"
+
+# Start with your existing volumes
+docker_arg="-v /usr/local/zed/resources:/usr/local/zed/resources \
+-v $HOME/rosbags:/rosbags \
+-v /usr/local/zed/settings:/usr/local/zed/settings \
+-v /dev/v4l:/dev/v4l \
+-v /dev/video0:/dev/video0 \
+-v /dev/video1:/dev/video1 \
+-v /dev/video2:/dev/video2 \
+-v /dev/video3:/dev/video3 \
+-v /dev/video4:/dev/video4 \
+-v /dev/video5:/dev/video5 \
+-v /dev/video6:/dev/video6 \
+-v /dev/video7:/dev/video7 \
+-v /dev/video8:/dev/video8"
 
 USE_CACHED_IMAGE=${1:-true}
 

scripts/joy_reset.sh

@@ -0,0 +1,5 @@
+#!/bin/bash
+source /opt/ros/humble/setup.bash
+ros2 daemon stop
+ros2 daemon start
+ros2 topic echo joy