Setup TX2 initialization #356

RealWilliamWells · 2020-04-05T03:34:08Z

Assignee Section

Description

Made some code changes and additions to ensure that ROS works properly on the TX2.

Modified the systemd services and startup scripts that run on the OBC in order for them to work with the user directories of the TX2.
Created a setup script( not tested very much, likely has issues ), to keep track of installed software and to make setting up OBC go more smoothly in the future.

Steps for Testing

Follow the client section of this guide for setting up OpenVPN, in order to be able to connect to the Jetson.( Feel free to leave comments in the document to let me know if my instructions suck )
Run ping nividia to ensure that you are able to communicate with the Jetson.
Ssh into the Jetson by using ssh nvidia@nvidia and the password nvidia( this is also the sudo password ). Add your computer's ip and username to its /etc/hosts file.
Run rosgui and startgui.
Run the ros ping_acknowledgement_client node to test your computer's connection to ros master on the Jetson.
Run rostopic list and rosnode list on the Jetson to view currently subscribed rostopics and running rosnodes.
Open the gui and test run anything else and manually run any other ros packages that you can think of.
Run the setup script in a VM or on another user account and ensure it sets everything up properly. Make the sure the user you run it on is named "Nvidia"! ( VM recommended this will install systemd services! ).

Note:
For some odd reason, the ros nodes use the Jetson's computer name of 'jetson-1422719019290' as its hostname instead of its username, when using the VPN server and ran from the systemd service. Roscore still uses the hostname 'nvidia', which is why you have to assign its ip to both of these hostnames. This behaviour didn't seem to occur when connecting over ethernet.

closes #275

The approval from all software team leads is necessary before merging.

Reviewer Section

Aside from local testing and the General Integration Test it is implied that static analysis should be included in the verification process.

Local Test Performed Successfully
General Integration Test Performed Successfully

For Pull Requests that do not include code changes, it is not required to perform the tests above.

MartensCedric · 2020-04-25T14:19:41Z

robot/rover/RoverSetup.sh

+. ~/Programming/robotics-prototype/robot/rospackages/devel/setup.bash
+. ~/Programming/robotics-prototype/venv/bin/activate
+source ~/Programming/robotics-prototype/robot/basestation/config/.bash_aliases


Shouldn't you use $REPO for this?

MartensCedric · 2020-04-25T14:20:44Z

robot/rover/RoverSetup.sh

+
+# Install Requirements
+pip install -U pip
+pip install pyserial


is there a reason why pip is installed here and not ran through pip -r requirements?

Also you don't include a version # which could be potentially bad

Not all of the python libraries are required, so there's no point to create a requirements.txt file just for one library. I included the version # thanks

MartensCedric · 2020-04-25T14:21:45Z

robot/util/emailer/emailIPAddress.js

@@ -9,7 +9,8 @@ const EMAILS_FILE_NAME = 'emails.txt'
 // fallback to default emails if there's and issue with the emails file
 const DEFAULT_EMAILS = [
    '[email protected]',
-    '[email protected]'
+    '[email protected]',
+    '[email protected]'


lol pls add me

Just so you know, read this code to see how to place the email config file so that more members can be notified

MartensCedric · 2020-04-25T14:22:38Z

robot/util/rosRoverStart/rosRoverStart.sh

@@ -1,5 +1,5 @@
 #!/usr/bin/env bash
-HOME="/home/odroid"
+HOME="/home/nvidia"


why is it sometimes $USER sometimes nvidia

is this related to what you put in the description?

There are apparently issues with using $USER when running it as a systemd service. I'll try to changing it back to see if I can get to work tho

Also it isn't related to what I put in the description. The description refers to some weird issue with connecting to ROS over a vpn server which has a workaround.

The systemd service doesn't work if $USER is used anywhere because the service has to run under root for some reason. I haven't find a way to fix this yet

MartensCedric · 2020-04-25T14:23:12Z

robot/rover/systemd/ros-rover-start.service

 User=root
 Type=simple
-ExecStart=/home/odroid/Programming/robotics-prototype/robot/util/rosRoverStart/runRosRoverStart.sh
+ExecStart=/home/nvidia/Programming/robotics-prototype/robot/util/rosRoverStart/runRosRoverStart.sh


Shouldn't you be using $USER

Won't work cause the systemd service has to run under root for some reason

Thing is, you can change the service to run as non-root but then certain processes later in the pipeline will fail and need to be worked around. Some more digging can be done as to where specifically it messes up, but seeing as we're not going to be switching OBC super often I'd say it's fine to leave this as it is for now. Maybe we can open an issue to investigate this for after this PR is merged.

I can try testing this out again for some investigation 👀 🍷

RealWilliamWells · 2020-04-29T19:13:44Z

I think Travis failed to download one of the requirements on the first test and failed lmao

MartensCedric · 2020-05-30T15:24:45Z

So how can we test this? You provided some steps but is the jetson always on? If not, can we coordinate a testing time? @KoaTheKoala did you ever test this since I know you did some jetson work

RealWilliamWells · 2020-05-30T15:31:23Z

@MartensCedric We would prob have to coordinate a testing time, unless if @KoaTheKoala runs the jetson 24/7. The setup script I made can be tested in VM to ensure that there's no errors. Although that doesn't guarantee that it would setup everything properly for the Jetson.

PeterGhimself · 2020-05-30T15:45:22Z

I would also suggest we should include some teensys into the equation that are running the code for rover/arm/science modules, to at least verify if the comms between the MCUs/OBCs still function.
With this you can try to start listeners in the GUI and see if sending commands "works". Without the real deal, we won't see anything budge, but I think the internal LEDs are programmed to blink accordingly (I can re-verify this claim later today).
As well as hypothetically maybe some kind of loads could be attached to represent wheels, maybe even just smaller but similar type motors (that way we can easily set them up to see if they are rotating correctly, more or less).

MartensCedric · 2020-05-30T15:59:55Z

Given that its a pain for anyone remote to test, maybe we could devise a test for Koa to perform, upon success of this test we could merge the PR

PeterGhimself

So for increasing the scope of testing, what can be done is connecting some teensies over USB with Rover/Arm/Science code on them, maybe even an arduino uno with PDS over UART comms, and test that they can communicate appropriately. As well, some usb cameras can be connected and tested.

I remember setting up the dependencies for the node emailer script was a pain, and I'm not seeing any of that setup here so that probably still needs to be accounted for as well as tested.

The changes look good, but really the best way forward for this issue I think would be for me to go visit @KoaTheKoala (since he currently has the jetson) and bring some teensies/cameras, do some further testing and confirm that things look good to merge.

PeterGhimself · 2020-06-13T21:17:46Z

robot/rover/RoverSetup.sh

+
+
+# Install camera stuff, these are not ros package dependecies and not installed with rosdep
+sudo apt-get install ros-kinetic-cv-camera ros-kinetic-web-video-server -y


There may be a better way, one that will allow us to remove this line specifically. Not a change request, but just a reminder that we may remove this line based off the outcome of #312

Alrighty I will note this, encase there's is a pr that removes this line

PeterGhimself

A few coments upon re-reviewing the code, before running a physical test.

PeterGhimself · 2020-06-20T22:36:06Z

robot/rover/RoverSetup.sh

+
+# Install Requirements
+pip install -U pip
+pip install pyserial==3.4 rospkg==1.1.7


since these are included in requirements.txt perhaps we should just use that? i.e. pip install -r requirements.txt -r requirements-dev.txt for completeness

PeterGhimself · 2020-06-20T22:39:59Z

robot/rover/RoverSetup.sh

+
+	source ~/.bashrc
+
+    sudo apt install ros-kinetic-rosbridge-suite -y


This script needs to be run as sudo? If so maybe we can add a previous check to see if whoami returns root. If not, exit the script with a message saying it needs to be run with sudo.

PeterGhimself · 2020-06-20T22:44:16Z

robot/rover/RoverSetup.sh

+sudo cp configEthernet/runConfigEthernet.sh /usr/bin/runConfigEthernet.sh
+sudo cp emailer/runEmailer.sh /usr/bin/runEmailer.sh
+cd $REPO/robot/util/configEthernet && bash synchConfigEthernet.sh
+cd $REPO/robot/util/emailer/ && bash syncEmailer.sh


I'd be surprised if the node emailer script worked out of the box. Gonna make sure to test this.

PeterGhimself · 2020-06-20T22:46:57Z

robot/rover/systemd/ros-rover-start.service

 User=root
 Type=simple
-ExecStart=/home/odroid/Programming/robotics-prototype/robot/util/rosRoverStart/runRosRoverStart.sh
+ExecStart=/home/nvidia/Programming/robotics-prototype/robot/util/rosRoverStart/runRosRoverStart.sh


I can try testing this out again for some investigation 👀 🍷

MartensCedric · 2020-12-31T01:32:07Z

robot/rover/RoverSetup.sh

+# Setup venv
+cd $REPO
+
+# Setup systemd services


This is useless

MartensCedric · 2020-12-31T02:24:49Z

robot/util/rosRoverStart/rosRoverStart.sh

@@ -21,4 +21,4 @@ source "$REPO_HOME/venv/bin/activate"
 python3 "$REPO_HOME/setup.py" develop

 # source primary catkin_ws setup bash script and execute one launch script to rule them all
-source $OPT_KINETIC_SETUP && source $ROS_PACKAGES_SETUP && roslaunch $ROSLAUNCH_FILE
+source OPT_MELODIC_SETUP && source $ROS_PACKAGES_SETUP && roslaunch $ROSLAUNCH_FILE


dollar sign missing

MartensCedric · 2021-01-02T01:10:15Z

We had trouble compiling web_video_server until this was done : RobotWebTools/web_video_server#113

Then two problems with the services

With ros-rover-start, the email doesn't send because it can't find "node" despite node working just fine in the terminal (but it doesnt work from the startup service)
config ethernet also crashes but this is probably just because there's nothing in the ethernet port

MartensCedric

Before merging this, the exact steps of the non-automated procedure should be written on a README or a wiki page.

Something that are not quite well documented (they are documented somewhere but not in a central place)

install npm
services
udev
webvideoserver edit

RealWilliamWells added 10 commits March 4, 2020 19:49

[#275] Create basic rover setup script

9868652

[#275] Edit startup script files to fix directory names

c420dee

[#275] Fix rover setup script

d2a2869

[#275] Update rover setup script

c677ecd

[#275] Add fix for ros file permission

650c248

[#275] Add append to hosts file to roversetup.sh

6e5b8b8

[#275] Fix directories in service scripts

8d9e7c0

[#275] Add execution of emailer and ethernet sync to setup

de4ce5f

[#275] Remove creation of venu from setup

ec59029

[#275] Edit setup script and readd creation of venv

8df768b

RealWilliamWells requested review from MartensCedric, PeterGhimself and joshua-glazer April 5, 2020 03:34

RealWilliamWells self-assigned this Apr 5, 2020

[#275] Reenable ip emailer

9e58f8b

MartensCedric requested changes Apr 25, 2020

View reviewed changes

[#275] Use environment variables to refactor scripts

ce944a5

RealWilliamWells force-pushed the setup-tx2-initialization-275 branch from 55d254c to ce944a5 Compare April 29, 2020 19:06

RealWilliamWells added 2 commits April 30, 2020 16:50

[#275] Fix roversetup syntax and add missing requirement

07bc69f

[#275] Fix directory issue in rover setup script

ae66953

PeterGhimself reviewed Jun 13, 2020

View reviewed changes

PeterGhimself reviewed Jun 20, 2020

View reviewed changes

PeterGhimself and others added 3 commits June 20, 2020 18:51

[#275] Merge branch 'master' into setup-tx2-initialization-275

4ec7df1

[#275] Merge branch 'master' into setup-tx2-initialization-275

f2b9ca3

[#275] Remove stuff unnecessary stuff from OBC setup script

31c7647

[#275] Merge branch 'master' into setup-tx2-initialization-275

2287ff0

MartensCedric requested changes Dec 31, 2020

View reviewed changes

RealWilliamWells added 5 commits December 30, 2020 21:38

[#275] Remove useless cd command from rover setup

97a9c36

[#275] Remove repo adding command

05cfc43

[#275] Remove ip emailer script setup from rover setup script for now

384b32d

[#275] Merge branch 'master' into setup-tx2-initialization-275

d0c6e65

[#275] Edit ros install path in ros rover start script

17a47ef

MartensCedric requested changes Dec 31, 2020

View reviewed changes

[#275] Fix enviroment variable call

ae60528

OfficialOwlElder added 2 commits January 1, 2021 20:23

[#275] Add path to node installation for runEmailer.sh

8a71c22

[#275] Add line to synEmailer.sh to copy runEmailer.sh to /usr/bin/

de4641b

MartensCedric requested changes Jan 16, 2021

View reviewed changes

RealWilliamWells closed this May 16, 2022

OZiad deleted the setup-tx2-initialization-275 branch July 20, 2024 20:02

Provide feedback

Saved searches

Use saved searches to filter your results more quickly

Setup TX2 initialization #356

Setup TX2 initialization #356

RealWilliamWells commented Apr 5, 2020 •

edited

Loading

MartensCedric Apr 25, 2020

RealWilliamWells Apr 29, 2020

MartensCedric Apr 25, 2020

RealWilliamWells Apr 29, 2020

MartensCedric Apr 25, 2020

MartensCedric Apr 25, 2020

RealWilliamWells Apr 29, 2020

MartensCedric Apr 25, 2020

MartensCedric Apr 25, 2020

RealWilliamWells Apr 29, 2020

RealWilliamWells Apr 29, 2020

RealWilliamWells Apr 29, 2020

MartensCedric Apr 25, 2020

RealWilliamWells Apr 29, 2020

PeterGhimself May 30, 2020

PeterGhimself Jun 20, 2020

RealWilliamWells commented Apr 29, 2020

MartensCedric commented May 30, 2020

RealWilliamWells commented May 30, 2020 •

edited

Loading

PeterGhimself commented May 30, 2020

MartensCedric commented May 30, 2020

PeterGhimself left a comment

PeterGhimself Jun 13, 2020

RealWilliamWells Jun 13, 2020

PeterGhimself left a comment

PeterGhimself Jun 20, 2020

PeterGhimself Jun 20, 2020

PeterGhimself Jun 20, 2020

PeterGhimself Jun 20, 2020

MartensCedric Dec 31, 2020

MartensCedric Dec 31, 2020

MartensCedric commented Jan 2, 2021

MartensCedric left a comment



		# Install camera stuff, these are not ros package dependecies and not installed with rosdep
		sudo apt-get install ros-kinetic-cv-camera ros-kinetic-web-video-server -y


		source ~/.bashrc

		sudo apt install ros-kinetic-rosbridge-suite -y

Setup TX2 initialization #356

Setup TX2 initialization #356

Conversation

RealWilliamWells commented Apr 5, 2020 • edited Loading

Assignee Section

Description

Steps for Testing

Reviewer Section

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

RealWilliamWells commented Apr 29, 2020

MartensCedric commented May 30, 2020

RealWilliamWells commented May 30, 2020 • edited Loading

PeterGhimself commented May 30, 2020

MartensCedric commented May 30, 2020

PeterGhimself left a comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

PeterGhimself left a comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

MartensCedric commented Jan 2, 2021

MartensCedric left a comment

Choose a reason for hiding this comment

RealWilliamWells commented Apr 5, 2020 •

edited

Loading

RealWilliamWells commented May 30, 2020 •

edited

Loading