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Device connections #294

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merged 3 commits into from
Jan 10, 2024
Merged

Device connections #294

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0866b04
Fix DDS and domain running on boot
b1n-ch1kn Jan 1, 2024
c23da02
Fix USB register on boot
b1n-ch1kn Jan 1, 2024
e2624cb
pre-commit fix
b1n-ch1kn Jan 10, 2024
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11 changes: 9 additions & 2 deletions docker/Dockerfile.roscube
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Expand Up @@ -49,6 +49,13 @@ RUN source /home/${USERNAME}/mambaforge/bin/activate; \
RUN rm -rf ./src

# tell ROS to use Cyclone DDS
# ENV RMW_IMPLEMENTATION="rmw_cyclonedds_cpp"
# ENV CYCLONEDDS_URI=file:///home/developer/driverless_ws/src/machines/roscube_machine/cyclonedds.xml
ENV RMW_IMPLEMENTATION="rmw_cyclonedds_cpp"
ENV CYCLONEDDS_URI=file:///home/developer/driverless_ws/src/machines/roscube_machine/cyclonedds.xml
ENV ROS_DOMAIN_ID=69

RUN echo 'export RMW_IMPLEMENTATION="rmw_cyclonedds_cpp"' >> /home/$USERNAME/.bashrc
RUN echo 'export CYCLONEDDS_URI=file:///home/developer/driverless_ws/src/machines/roscube_machine/cyclonedds.xml' >> /home/$USERNAME/.bashrc
RUN echo 'export ROS_DOMAIN_ID=69' >> /home/$USERNAME/.bashrc

COPY ./docker/conda_entrypoint.sh /conda_entrypoint.sh
ENTRYPOINT ["/conda_entrypoint.sh"]
3 changes: 3 additions & 0 deletions docker/conda_entrypoint.sh
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Expand Up @@ -9,4 +9,7 @@ conda activate driverless_env
# source workspace setup if available
test -f "/home/developer/driverless_ws/install/setup.bash" && source "/home/developer/driverless_ws/install/setup.bash"

ros2 daemon stop
ros2 daemon start

exec "$@"
2 changes: 1 addition & 1 deletion docker/docker-compose.yml
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Expand Up @@ -15,7 +15,7 @@ x-volumes-roscube: &volumes-roscube
- ../../datasets:/home/${USERNAME}/driverless_ws/datasets
# /dev/shm is mounted in so that two foxy containers can talk to each other when using net=host, see: https://answers.ros.org/question/370595/ros2-foxy-nodes-cant-communicate-through-docker-container-border/
- /dev/shm:/dev/shm
- /dev/ttyUSB-sbg:/dev/ttyUSB-sbg
- /dev/sbg:/dev/sbg

x-volumes-jetson: &volumes-jetson
volumes:
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9 changes: 8 additions & 1 deletion src/hardware/sensors/config/ellipse_D.yaml
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Expand Up @@ -32,7 +32,14 @@
# Uart configuration
uartConf:
# Port Name
portName: "/dev/ttyUSB-sbg"
### IMPORTANT REQUIRES UDEV RULE TO BE CREATED
# sudo touch /etc/udev/rules.d/99-sbg_example.rules
# sudo nano /etc/udev/rules.d/99-sbg_example.rules
# SUBSYSTEMS=="usb", ATTRS{product}=="USB-RS232 Cable", ATTRS{serial}=="SERIAL_HERE", SYMLINK+="sbg"
### Find serial by walking through ttyUSBs
# udevadm info --name=/dev/ttyUSB0 --attribute-walk # replace with ttyUSB1... etc until you find the RS232

portName: "/dev/sbg"

# Baude rate (4800 ,9600 ,19200 ,38400 ,115200 [default],230400 ,460800 ,921600)
baudRate: 115200
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6 changes: 4 additions & 2 deletions src/machines/jetson_machine/cyclonedds.xml
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@@ -1,8 +1,10 @@
<?xml version="1.0" encoding="UTF-8" ?>
<CycloneDDS xmlns="https://cdds.io/config" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:schemaLocation="https://cdds.io/config https://raw.githubusercontent.com/eclipse-cyclonedds/cyclonedds/master/etc/cyclonedds.xsd">
<Domain id="any">
<Domain id="69">
<General>
<NetworkInterfaceAddress>wlan0</NetworkInterfaceAddress>
<Interfaces>
<NetworkInterface address='192.168.3.3'/>
</Interfaces>
<AllowMulticast>spdp</AllowMulticast>
</General>
</Domain>
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6 changes: 4 additions & 2 deletions src/machines/roscube_machine/cyclonedds.xml
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@@ -1,8 +1,10 @@
<?xml version="1.0" encoding="UTF-8" ?>
<CycloneDDS xmlns="https://cdds.io/config" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:schemaLocation="https://cdds.io/config https://raw.githubusercontent.com/eclipse-cyclonedds/cyclonedds/master/etc/cyclonedds.xsd">
<Domain id="any">
<Domain id="69">
<General>
<NetworkInterfaceAddress>enp4s0</NetworkInterfaceAddress>
<Interfaces>
<NetworkInterface address='192.168.3.2'/>
</Interfaces>
<AllowMulticast>spdp</AllowMulticast>
</General>
</Domain>
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