Installation Guide

Here is a step-by-step guide to install the ROS2 Navigation Stack on the Rover. This is mainly in the context of reinstalling the software on the rover itself after a fresh OS installation, and is not necessary for development on your own machine.

Hardware Requirements

• Computer: A Nvidia Jetson Orin with Jetpack 6.1.
• Sensors: 2x Zed 2i Cameras,

Prerequisites

1. Docker
2. Docker Compose
3. Nvidia Container Toolkit
4. Resolve Joy Driver Issues: If you encounter issues with the joystick driver, you can resolve them by opening a terminal and running the following commands: see Joy Driver Issues.

   sudo git clone https://github.com/paroj/xpad.git /usr/src/xpad-0.4
   sudo dkms install -m xpad -v 0.4
   

Installation Steps

1. Connect to the Rover: SSH into the rover's computer using the following command:

   ssh gorm@192.168.0.100 # or ssh gorm@<ROVER_IP_ADDRESS>
   

   The default password is gorm.

2. Clone the Repository: Clone the AAU Rover Software repository to the rover's computer.

    git clone https://github.com/aaU-Space-Robotics/rover-software/
    cd rover-software
   

3. Build & Run the Docker Images: Navigate to the docker directory and start the main rover service in development mode (this will build images and mount the source code).

   cd docker
   ./run.sh rover --dev
   

   💡 Production Deployment: For production deployment with auto-restart capabilities, see the Deployment Guide which provides a pre-built image that doesn't require manual building inside the container.

4. Launch the Rover Software: After the Docker images are built and running, you can attach to the running container and launch the rover software.

   # Attach to the running Docker container
   docker exec -it rover-software bash
   
   # Build the ROS2 packages inside the container
   colcon build
   source install/setup.bash
   
   # Launch the rover software
   ros2 launch gorm_bringup bringup_teleop.launch.py