Missing files & misc. fixes (#13)

* added back changes to README.md from previous commit

* removed sim instructions from README.md

* Added back fake_path.yaml

* added new line to fake_path.yaml

* Moved cont path launch

* fixed origin initialization in continuous path

* Enabled Lidar

* Formatting

* Fixed random issues

* Added --local instructions

* Updated instructions for new network

* cleanup

Author: nls5260

README.md

@@ -1,9 +1,47 @@
-Steps to use sim:
 
-1. Set ROBOT_IP to the desired target in robot.env
-2. Change noah to the target username everywhere in robot.sh
-3. ./robot.sh deploy
+## Deployment Scripts
 
-Periodically run 
-  docker system prune
-to delete old images if imageprune.py doesn't do it's job
+Code is deployed to the robot as a Docker image. Most actions are automated with the `robot.sh` script.
+
+### Example Uses
+
+#### Deploying
+```bash
+./robot.sh deploy
+```
+
+This will copy and build your current workspace on the NUC. After building it will start execuiting on the NUC after stopping any previous code. A custom launch command can be given through command line arguments after `deploy`. After starting, your shell will show stdout/stderr from the NUC. Ctrl+Cing in your shell will not stop the process on the NUC.
+
+#### Starting/Stopping
+```bash
+./robot.sh start
+./robot.sh stop
+```
+
+These start/stop commands will start and stop the last image that has been deployed to the NUC. A custom launch command can be given through command line arguments after `start`. After starting, your shell will show stdout/stderr from the NUC. Ctrl+Cing in your shell will not stop the process on the NUC.
+
+#### Viewing the console
+```bash
+./robot.sh watch
+```
+
+"Watching" the console will watch the output of stdout/stderr, while also showing output from before you connected. Ctrl+Cing in your shell will not stop the process on the NUC.
+
+### Configuration
+Deployment script configuration is set in `robot.env`. `ROBOT_IP` and `DEFAULT_LAUNCH` set the target system and default command to execute when starting an image. Other parameters like image/container name can be tweaked, but please don't change them on the competition robot without good reason.
+
+### Help, I can't connect
+
+Make sure you
+
+- Connected to the robot_onboard WiFi network.
+- Have Docker installed on your machine (a local daemon does not need to be running)
+- Have your SSH key trusted by the NUC (see instructions in the computer-configuration folder)
+- Recieve a response with `ping 192.168.1.22`
+  - If you get a request timeout after the NUC has been powered on for a minute, power cycle the NUC
+
+### I want to deploy the stack locally (magellan_sim)
+Simply add the `--local` flag to your `robot.sh` command. Use the local flag with all other robot.sh functions as well.
+```bash
+./robot.sh --local deploy
+```

robot.sh

@@ -50,7 +50,7 @@ case $1 in
     ;;
 
     shutdown)
-        ssh ras@${ROBOT_IP} "sudo poweroff" &> /dev/nulli
+        ssh ras@${ROBOT_IP} "sudo poweroff" &> /dev/null
     ;;
 
     shell)

src/magellan_core/launch/main_sim.launch

@@ -1,4 +1,4 @@
 <launch>
     <include file="$(find magellan_core)/launch/passive.launch" />
     <include file="$(find magellan_core)/launch/sim.launch" />
-</launch>
+</launch>

src/magellan_core/launch/obstacle_avoidance.launch

@@ -1,4 +1,3 @@
 <launch>
-        <node pkg="magellan_vision" type="blobDetection_ROS.py" name="obstacle_avoidance_node"/>
+	<node pkg="magellan_vision" type="blobDetection_ROS.py" name="obstacle_avoidance_node"/>
 </launch>
-

src/magellan_core/launch/passive.launch

@@ -6,11 +6,10 @@
     <!--<include file="$(find magellan_core)/launch/gps.launch" />-->
     <include file="$(find magellan_core)/launch/localization.launch" />
     <!--<include file="$(find magellan_core)/launch/gps_localization.launch" />-->
-    <!--<include file="$(find magellan_core)/launch/lidar.launch" />-->
+    <include file="$(find magellan_core)/launch/lidar.launch" />
     <!--<include file="$(find magellan_core)/launch/new_navigation.launch" />-->
     <include file="$(find magellan_core)/launch/navigation.launch" />
     <!--<include file="$(find magellan_core)/launch/fake_path.launch" />-->
     <include file="$(find magellan_core)/launch/obstacle_avoidance.launch" />
-    <include file="$(find magellan_core)/launch/continuous_path.launch" />
     <include file="$(find magellan_core)/launch/camera.launch" />
 </launch>

src/magellan_core/launch/robot.launch

@@ -3,4 +3,5 @@
         <param name="port" value="/dev/ttyACM0" />
     </node>
     <include file="$(find magellan_core)/launch/passive.launch" />
+    <include file="$(find magellan_core)/launch/continuous_path.launch" />
 </launch> 

src/magellan_core/launch/sim.launch

@@ -1,3 +1,3 @@
 <launch>
     <node name="magellan_sim" pkg="magellan_sim" type="magellan_sim" />
-</launch>
+</launch>

src/magellan_core/params/fake_path.yaml

@@ -0,0 +1,4 @@
+path: [ [0,0], [1, 0], [1, 1], [0, 1]]
+step_size: .1
+path_frame: odom
+odom_frame: odom

src/magellan_core/scripts/continuous_path.py

@@ -21,7 +21,7 @@ def __init__(self):
         self._frame_id = 'odom'
         self._odom_frame_id = 'odom'
         self._publisher = rospy.Publisher('/path', Path, queue_size=5)
-        self.raw_path_sub = rospy.Subscriber('/noah/raw_path', Point, self.raw_path_callback)
+        self.raw_path_sub = rospy.Subscriber('/continuous_path', Point, self.raw_path_callback)
 
     def raw_path_callback(self, data):
         now = rospy.Time.now()
@@ -73,16 +73,10 @@ def publish_path(self):
     rospy.init_node('continuous_path')
 
     node = ContinuousPathNode()
-    debug_raw_path_pub = rospy.Publisher('/noah/raw_path', Point, queue_size=5)
-
-    debug_point = Point()
-    debug_tick = 0
-    rospy.sleep(2)
 
     # initialize first point on path to origin
-    debug_point.x = 0
-    debug_point.y = 0
-    debug_point.z = 0
-    debug_raw_path_pub.publish(debug_point)
+    origin = Point()
+    node.raw_path_callback(origin)
+
     while not rospy.is_shutdown():
         rospy.spin()