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It comes with a separate battery and can be turned off even when the payload is turned on. ## 📦 Payload -TODO: talk about the sensors and components in the payload - The payload for the SuperMegaBot incorporates sensors, an onboard computer, networking utilities, and a power system. It was developed with the goal to allow quick adaptations for various applications. With its grooved top plate, an extra sensor or even a manipulator can easily be attached to the payload. diff --git a/docs/installation/rss-workspace.md b/docs/installation/rss-workspace.md index 76845bc..0160552 100644 --- a/docs/installation/rss-workspace.md +++ b/docs/installation/rss-workspace.md @@ -40,6 +40,26 @@ For other Linux distros, the steps should be similar to Ubuntu and work for both ### Git Make sure you have installed Git on your system. ([Instructions](https://git-scm.com/book/en/v2/Getting-Started-Installing-Git)) +### Docker +Make sure to install the latest [Docker](https://docs.docker.com/get-docker/). + +#### Configure Docker Desktop (Windows/Mac) + +Turn on the Network Host mode in the experiemental features section in Docker Desktop settings. + +

+ +

+ +#### Configure Resource Allocation (Optional) + +If you encounter any performance issues, you can adjust the resource allocation settings as below. + +

+ +

+ + ### VSCode + Dev Containers Extension - Ensure you have a working VSCode setup and that it is up to date to avoid any issues. - Install the [Remote - Containers extension](https://marketplace.visualstudio.com/items?itemName=ms-vscode-remote.remote-containers) in VSCode. diff --git a/docs/physical-robot/setting-up/connect-to-robot.md b/docs/physical-robot/setting-up/connect-to-robot.md index 8e9bbda..38a4d6f 100644 --- a/docs/physical-robot/setting-up/connect-to-robot.md +++ b/docs/physical-robot/setting-up/connect-to-robot.md @@ -79,8 +79,11 @@ ssh @10.0.x.5 #! Terminal becomes terminal of SSH! -# To connect the SMB to Internet -nmcli connection up +# To view connections available, this shows the list of connections available to join +nmcli connection show + +# To connect the SMB to Internet (you can specify the connections available from above command, e.g: sudo nmcli connection up mavt-asl-iot) +sudo nmcli connection up ``` **You should connect to the SMB with your given username. The Username is your team number**. diff --git a/docs/physical-robot/tasks/object-detection.md b/docs/physical-robot/tasks/object-detection.md index b4d69aa..9612e57 100644 --- a/docs/physical-robot/tasks/object-detection.md +++ b/docs/physical-robot/tasks/object-detection.md @@ -29,4 +29,22 @@ To launch the detection pipeline locally, run: roslaunch object_detection object_detection.launch object_detection_classes="[0,1,2,10]" ``` +To view the bounding boxes and get more information about the detections use the following two commands: + +```bash +rosrun rqt_image_view rqt_image_view +``` + +Then select the following topic to see the bounding boxes in the image: + +``` +/object_detector/detections_in_image +``` + +To get more information like position, classification, etc. subscribe to or echo the following topic: + +```bash +rostopic echo /object_detector/detection_info +``` + For more information, please check out the [Artefact Detection Tutorial](../../rss/preparations/artefact_detection_tutorial_preparations.md). diff --git a/docs/physical-robot/tasks/opc.md b/docs/physical-robot/tasks/opc.md index c44699a..29d479e 100644 --- a/docs/physical-robot/tasks/opc.md +++ b/docs/physical-robot/tasks/opc.md @@ -55,4 +55,4 @@ Once the core software (`smb.launch`) is started on the robot, you have several 1. Control the robot using the RC transmitter. The signals from the RC transmitter are read by the onboard computer and sent to the motor controller. 2. Use a Joystick to generate control signals (twist messages). In order to control the SMB with the joystick, you should keep pressing the L1 button while driving and use the left stick to control the robot. -3. Run the autonomous software stack as outlined in the following section. +3. Run the autonomous software stack as outlined in the following section. \ No newline at end of file diff --git a/docs/simulation/tasks/mission-planning.md b/docs/simulation/tasks/mission-planning.md index f3ebae5..8e4f528 100644 --- a/docs/simulation/tasks/mission-planning.md +++ b/docs/simulation/tasks/mission-planning.md @@ -43,6 +43,9 @@ After having recorded all your missions, stop the node with `Ctrl-C`. All your r The `mission_planner.py` executes the previously defined mission plan. +Remember to start the `graph_msf` and `smb_gazebo` using the steps in [navigation](../tasks/navigation.md). +{: .note} + Start the simulation and the path planner. ```bash # launch the FAR planner diff --git a/docs/simulation/tasks/object-detection.md b/docs/simulation/tasks/object-detection.md index fa944bc..d231a15 100644 --- a/docs/simulation/tasks/object-detection.md +++ b/docs/simulation/tasks/object-detection.md @@ -32,6 +32,23 @@ To launch the detection pipeline locally, run: # In the host PC roslaunch object_detection object_detection.launch gpu:=off model:=yolov5l6 ``` +To view the bounding boxes and get more information about the detections use the following two commands: + +```bash +rosrun rqt_image_view rqt_image_view +``` + +Then select the following topic to see the bounding boxes in the image: + +``` +/object_detector/detections_in_image +``` + +To get more information like position, classification, etc. subscribe to or echo the following topic: + +```bash +rostopic echo /object_detector/detection_info +``` For more information, please check out the [Artefact Detection Tutorial](../../rss/preparations/artefact_detection_tutorial_preparations.md).