R2Ware

Getting Started

1. Clone Repository:

   Clone the R2Ware repository and navigate into the project directory:

   cd ~/
   git clone https://github.com/ahmaad-ansari/r2ware.git
   cd r2ware

2. Initialize Workspace:

   Create the src directory and import the necessary repositories:

   mkdir src
   vcs import src < r2ware.repos

3. Set Up Docker:

   Run the provided script to set up Docker for the R2Ware environment. You can optionally specify the vlp32 option to configure the Docker container for VLP32 usage:

   ./run_docker.sh vlp32
   cd ~/r2ware

4. Install Dependencies:

   Install ROS dependencies using rosdep:

   apt update
   rosdep update
   rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO

5. Build the Workspace:

   Build the R2Ware workspace using colcon:

   colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release

   Or build specific packages:

   colcon build --symlink-install --packages-select r2ware_control

   colcon build --symlink-install --packages-select r2ware_sensing

   colcon build --symlink-install --packages-select r2ware_launch

   colcon build --symlink-install --packages-select r2ware_status

Teir IV Nebula Sensor Driver

This guide provides instructions for setting up the Nebula Driver for VLP32 3D LiDAR.

Prerequisites

Before setting up the Nebula Driver, ensure you have the following prerequisites installed:

• ROS (Galactic distribution)
• Velodyne ROS package

You can install the Velodyne ROS package using the following command:

sudo apt-get install ros-galactic-velodyne

Setup Steps

1. Create Workspace:

   Create a workspace directory for the Nebula Sensor Driver on the local machine:

   mkdir -p ~/nebula_sensor_driver/src
   cd ~/nebula_sensor_driver

2. Clone Nebula Repository:

   Clone the Nebula repository into the src directory:

   git clone https://github.com/tier4/nebula.git src

3. Import Dependencies:

   Import the dependencies using vcs:

   vcs import src < src/build_depends.repos

4. Install Dependencies:

   Install ROS dependencies using rosdep:

   rosdep install --from-paths src --ignore-src -y -r

5. Build Nebula:

   Build the Nebula driver using colcon:

   colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release

• Make sure to source your ROS workspace (source ~/nebula_sensor_driver/install/setup.bash) before using the Nebula Driver. And add the following to your .bashrc file.

export ROS_LOCALHOST_ONLY=1
export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
if [ ! -e /tmp/cycloneDDS_configured ]; then
    sudo sysctl -w net.core.rmem_max=2147483647
    sudo ip link set lo multicast on
    touch /tmp/cycloneDDS_configured
fi

Multi-Machine Communication Setup

This section outlines the setup process for enabling multi-machine communication between the R2 and a ground station.

R2 Machine

Local Machine Setup

1. Enable Multicast:

   Run the following commands on the R2's local machine to enable communication with a ground station on the same network:

   sudo ip link set lo multicast on
   sudo ufw disable

   You can check the status of the firewall with the following command:

   sudo ufw status

Docker Container Setup

2. Inside Docker Container:

   Run the following commands while inside the R2's Docker container to enable communication with a ground station on the same network:

   apt install -y ros-foxy-fastrtps

Ground Station Setup

3. Ground Station Configuration:

   Run the following commands on the ground station running Autoware:

   sudo ufw disable
   sudo ip link set lo multicast on
   sudo apt install -y ros-humble-fastrtps

   Set the following environment variables to enable ROS 2 communication:

   export ROS_LOCALHOST_ONLY=0
   export ROS_DOMAIN_ID=32

Test Connection

4. Test Communication:

   Once you have completed the setup steps, you can test the communication between the two machines by running one command on each machine:

   ros2 run demo_nodes_cpp listener

   ros2 run demo_nodes_cpp talker

System Deployment

To run the entire system, follow these steps:

1. Run on Local Machine:

   ros2 launch nebula_ros nebula_launch.py sensor_model:=VLP32

2. Run in Docker Container:

   ros2 launch r2ware_launch r2ware_launch.py

3. Run on Ground Station:

   [...]