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AUV Fault Detection

Setting up the simulation

  • Open VSCode
  • Install the Dev Containers extension in VSCode
  • Install Docker from here or through F1 > Dev Containers: Install Docker
  • Open the AUV-Fault-Detection folder in VSCode. When prompted select "Reopen Container" popup or F1 > Dev Containers: Rebuild and Reopen in Container
    • VSCode will create a Docker container with ROS installed, share your local AUV-Fault-Detection folder with the container, then connect to the container. This allows you to edit and run code inside the container as if it was your local computer.
  • In the container, cd avl and bash setup.sh This should happen automatically now.
    • VSCode will ask for your CMAR credentials, then pull the necessary git repos and their dependencies
    • The avl command will also be added to bash
  • Build the AVL code: catkin_make
  • Activate the catkin workspace: source devel/setup.sh

Useful commands

  • source /opt/ros/noetic/setup.bash: Makes ROS commands available in your shell
  • source avl/devel/setup.bash: Allows ROS tools like roslaunch and rosrun to find your packages and nodes

Logs

  • Logs are stored in /var/avl_logs/<timestamp>
  • /var/avl_logs/current is symlinked to latest log, so cd /var/avl_logs/current to access latest log
  • File > Add folder to Workspace > /var/avl_logs to add the log folder to the file tree

Running data collection

  • See the top of data_collection_launcher.py to change trial length, when fault triggers, etc.
  • Start ROS core in a new terminal window: roscore
  • rosrun avl_fault_detection data_collection_launcher.py
  • Stop ROS core: Ctrl+C in terminal window
  • data_collection.log in avl_logs contains vehicle state data and fault labels in tabular form

Running the simulation

Syntax: avl start <package_name> <launch_file_name>

To start a full system simulation with the avl_fault_detection package:

  • source /opt/ros/noetic/setup.bash
  • source /workspaces/AUV-Fault-Detection/avl/devel/setup.bash
  • avl setup avl_690
  • avl start avl_fault_detection full_system_simulation.launch

F1 > ROS: Show Status will show all current node configurations, topics, and publishers

Updating the Workspace

  • Save any work, then delete everything under avl/
  • Re-run setup.sh

Setting up Mission Control

Follow the instructions here

To do

[X] Run setup.sh automatically [] Install Mission Control automatically [] Fix fluxbox toolbar font being white [X] Allow setup.sh to run multiple times [] setup.sh line endings