Two ROS2 workspaces documented for setup

.gitignore

@@ -1,5 +1,13 @@
+# Cache files
 .DS_Store
 .cache
+
+# ROS2 compilation files
 **/build/
 **/install/
-**/log/
+**/log/
+
+# External packages
+**/mocap_msgs/
+**/mocap4r2/
+**/mocap4ros2_optitrack/

docs/contributing.md

@@ -38,9 +38,13 @@ This should be installed using the following command:
 ```bash
 pip install mkdocs-material
 ```
+Additionally, we make use of a number of plugins, that can be installed as:
+```bash
+pip install pymdown-extensions mkdocs-git-committers-plugin-2 mkdocs-git-revision-date-localized-plugin
+```
 **Note:** The documentation is built automatically using GitHub Actions, so there is no need to build it locally. Always push to the `main` branch.
 In case you want to preview the updates locally, simply use:
 ```bash
 mkdocs serve
 ```
-in the main directory, and open the browser as instructed.
+in the main directory, and open the preview in the browser as instructed.

docs/index.md

@@ -4,7 +4,7 @@ This documentation provides a detailed guide to the setup, configuration, and us
 ![Trunk robot](assets/trunk-closeup.jpg){ align=right width=40% }
 
 ## Contents
-- **Design**: Documentation for full-system software, electrical, and mechanical design. Inlcudes BOM, CAD assets, circuit diagram, and design considerations.
-- **Setup**: Instructions for setting up the hardware and software. This shall be referenced for repairs, upgrades, and new installations.
-- **Usage**: Description on how to use the Trunk Robot. 
-- **Contributing**: Guidelines for contributing to the development of the Trunk Robot project.
+- **Design:** Documentation for full-system software, electrical, and mechanical design. Inlcudes BOM, CAD assets, circuit diagram, and design considerations.
+- **Setup:** Instructions for setting up the hardware and software. This shall be referenced for repairs, upgrades, and new installations.
+- **Usage:** Description on how to use the Trunk Robot. 
+- **Contributing:** Guidelines for contributing to the development of the Trunk Robot project.

docs/ros2_workspaces.md

@@ -1,7 +1,73 @@
 # ROS2 Workspaces
 
+Before setting up the ROS2 workspaces needed to control the robot, please make sure you have cloned this repository:
+```bash
+gh repo clone StanfordASL/trunk-stack
+```
+The ROS2 code lives in the `stack/` directory.
+
+## Main Workspace
+**Note:** This workspace runs on the main machine.
+
+Enter the `main/` folder.
+We primarily use ROS2 Humble, which should be sourced before doing the first build:
+```bash
+source /opt/ros/humble/setup.bash
+```
+For actually building the workspace, we use Colcon, i.e. run:
+```bash
+colcon build
+```
+in the `main/` directory and subsequently source the new install:
+```bash
+source install/setup.bash
+```
+Check that the build process runs without any errors.
+
 ## Motion Capture Workspace
+**Note:** This workspace runs on the main machine.
+
+Make sure you have set up the motion capture system as described in the [OptiTrack System Setup](./optitrack.md) page.
+
+Enter the `mocap/` folder. Most code is already present, except for the `mocap4ros2_optitrack` plugin, which can be installed by following the instructions on the [respective website](https://github.com/MOCAP4ROS2-Project/mocap4ros2_optitrack).
+For completeness, we also list the steps here.
+
+Enter the `src/` directory.
+Download the plugin's repository:
+```
+git clone https://github.com/MOCAP4ROS2-Project/mocap4ros2_optitrack.git
+```
+Install dependencies:
+```
+rosdep install --from-paths src --ignore-src -r -y
+vcs import < mocap4ros2_optitrack/dependency_repos.repos
+```
+Now, make sure that configuration file, located in `mocap4ros2_optitrack/mocap4ros2_optitrack_driver/config/`, has the correct information.
+Specifically, the `server_address` should be equal to the address that Motive is streaming to (see the Local Interface entry in the Streaming pane in Motive), and `local_address` should be the address of the main machine, that will be running this workspace.
+
+Once that information is entered correctly, compile the workspace:
+```bash
+cd .. # enter 'mocap' dir.
+colcon build --symlink-install
+```
+Do make sure that ROS2 Humble is sourced again before building. Certain warnings can come up but may be ignored.
+
+Then, check that the Optitrack configuration works fine and is connected by running it once:
+```bash
+ros2 launch mocap4r2_optitrack_driver optitrack2.launch.py
+```
+This should say "Configured!" as a last message.
+As the driver node is a lifecycle node, you should transition to activate:
+```
+ros2 lifecycle set /mocap4r2_optitrack_driver_node activate
+```
+which should return "Transitioning successful".
 
 ## Motor Control Workspace
+**Note:** This workspace runs on the Raspberry Pi.
+
+For the control of the motors, we use the [ros_phoenix](https://github.com/vanderbiltrobotics/ros_phoenix) package.
+Due to compatibility constraints of this package, we use ROS2 Foxy for this workspace.
+
+Clone the `trunk-stack` repository on the Pi and enter the `motors/` folder.
 
-## Main Workspace

docs/software_design.md

@@ -2,6 +2,7 @@
 
 ## Description
 The software stack of the ASL Trunk Robot is primarily developed in ROS2, and can be divided into three components: main, motion capture and motor control.
+We assume that several computing resources are available: a Rapsberry Pi for executing the motor control, a main linux machine for running the experiments, and a Windows machine for running the motion capture Motive software.
 
 ## ROS2 Graph
 The diagrams are generated using [ros2_graph](https://github.com/kiwicampus/ros2_graph/).

mkdocs.yml

@@ -24,7 +24,7 @@ nav:
     - Software: software_design.md 
   - Setup:
     - 3D Printing: 3d_printing.md 
-    - OpiTrack System: optitrack.md 
+    - OptiTrack System: optitrack.md 
     - ROS2 Workspaces: ros2_workspaces.md
   - Usage:
     - Motion Capture: mocap.md

stack/mocap/src/mocap4ros2_optitrack/mocap4r2_optitrack_driver/config/mocap4r2_optitrack_driver_params.yaml

@@ -2,7 +2,7 @@ mocap4r2_optitrack_driver_node:
   ros__parameters:
     connection_type: "Unicast" # Unicast / Multicast
     server_address: "10.93.181.100"
-    local_address: "10.93.181.147"
+    local_address: "10.93.181.104"
     multicast_address: "239.255.42.99"
     server_command_port: 1510
     server_data_port: 1511