diff --git a/docs/finals/index.en.md b/docs/finals/index.en.md index 743a47c..938ecd9 100644 --- a/docs/finals/index.en.md +++ b/docs/finals/index.en.md @@ -19,4 +19,4 @@ For the latest information on the semifinals and finals, please visit the follow [City Circuit Tokyo Bay](https://city-circuit.com/) -## [Next: How to Operate the Vehicle](./operation.en.md) \ No newline at end of file +## [Next: How to Operate the Vehicle](./operation.en.md) diff --git a/docs/finals/index.ja.md b/docs/finals/index.ja.md index 4ba3215..d6514b0 100644 --- a/docs/finals/index.ja.md +++ b/docs/finals/index.ja.md @@ -19,4 +19,4 @@ [シティサーキット東京ベイ](https://city-circuit.com/) -## [Next: 車両の動かし方](./operation.ja.md) \ No newline at end of file +## [Next: 車両の動かし方](./operation.ja.md) diff --git a/docs/finals/operation.en.md b/docs/finals/operation.en.md index 16a2f33..750a03c 100644 --- a/docs/finals/operation.en.md +++ b/docs/finals/operation.en.md @@ -1,6 +1,7 @@ # How to Operate the Vehicle ## Information Provided to Each Team + The following information will be shared with each team before the event. | Item | Purpose | | ---- | ------- | @@ -9,6 +10,7 @@ The following information will be shared with each team before the event. | Vehicle ECU Password | Password for logging in and SSH connection to the vehicle ECU | ## Important Notes + - Please do not rename the `aichallenge-2024` directory under home as scripts are path-dependent. - ROSBAG recording is not automatic, so please execute the recording command during operation. - By default, Zenoh communication is set to only receive topics. If you need to change settings during operation, please use either of the following methods: @@ -18,6 +20,7 @@ The following information will be shared with each team before the event. - `sudo apt install arp-scan` ## How to Connect to Vehicle ECU + - Connect your PC to the Wi-Fi network `CCTB_office_01` (same network as vehicle ECU) - On your PC, execute `cd aichallege-2024/remote` to change working directory - Execute `bash connect_ssh.bash ` on your PC (e.g., `bash connect_ssh.bash A9 aic-team`) @@ -28,27 +31,37 @@ The following information will be shared with each team before the event. - Execute `ssh @` on your PC ## How to Transfer Autoware to Vehicle ECU + - Please keep the folder name as `aichallenge-2024` due to script path dependencies. + 1. An `aichallenge-2024` folder is located under `/home` on the ECU; edit the submit folder within. 2. Transfer aichallenge-2024 from your PC using SCP or VSCode Remote SSH ## Operations After Connecting to Vehicle ECU + ### 1. Starting Drivers and Docker Containers + ```bash cd aichallenge-2024 ./docker_build.sh dev (only needs to be executed once initially) bash run_vehicle_tmux.sh ``` + The terminal will be split as shown below: ![tmux-image](./images/tmux.png) + - Left ①: Starts ./docker_run dev cpu and enters aichallenge-2024 container - Right ②: Starts ./docker_run dev cpu and enters aichallenge-2024 container - Right ③: Vehicle driver software starts - Right ④: Zenoh bridge starts - Right ⑤: Nothing specific +The vehicle driver (right ③) and Zenoh bridge (right ④) will start automatically. + ### 2. Starting Autoware + Execute within Docker container. By default, use terminal ① on the left or ② on the right. + ```bash cd /aichallenge ./build_autoware.bash (execute only once initially, then as needed when making changes that require rebuilding) @@ -56,7 +69,9 @@ cd /aichallenge ``` ### 3. Recording ROSBAG + Execute within Docker container. By default, use terminal ① on the left or ② on the right. + ```bash cd /aichallenge source workspace/install/setup.bash @@ -68,8 +83,18 @@ cd /aichallenge ./record_rosbag.bash ``` +### 4. When Finishing Operation + +Execute the following in terminal ⑤ on the right to stop the container and tmux: + +```bash +./stop_vehicle_tmux.sh +``` + ## For ROS Communication Between Local PC and ECU + - Execute the following on your local PC: + ```bash # Only needed once initially ./docker_build.sh dev @@ -84,34 +109,48 @@ cd /remote cd /aichallenge ./run_rviz.bash ``` + - Press CTRL+C in the Zenoh terminal to end communication. ## FAQ: Troubleshooting + ### Q. ROS communication not working between local PC and ECU / Topic duplication + A. Restart Zenoh on both local PC and ECU + #### Restarting Zenoh on ECU + Stop Zenoh in terminal ⑤ by executing: + ```bash cd vehicle ./kill_zenoh.bash ``` + Then restart Zenoh in terminal ④: + ```bash ./run_zenoh.bash ``` + #### Restarting Zenoh on Local PC + Press CTRL+C in the Zenoh terminal to stop it Then execute `./connect_zenoh.bash ` to restart ### Q. Low ROS Topic publishing frequency during Zenoh communication + A. The config file `./vehicle/zenoh.json5` is set for stable communication, default 10Hz. If needed, you can adjust the publishing frequency by modifying `pub_max_frequencies: ["/*=10"]`. ### Q. ROS Topics delayed or missing on local PC + A. Topics may be delayed or lost due to communication conditions. + - Try reducing the number of topics displayed on local PC or adjusting publishing frequency - You can set topic priorities in `./vehicle/zenoh.json5` config file using `pub_priorities: ["/racing_kart/joy=1:express"]` - Try executing `./remote/network_setting.bash` ### Q. Unsure if inside aichallenge-2024 container -A. A simple check: execute the docker command in the terminal - if you get `bash: docker: command not found`, you're inside Docker. \ No newline at end of file + +A. A simple check: execute the docker command in the terminal - if you get `bash: docker: command not found`, you're inside Docker. diff --git a/docs/finals/operation.ja.md b/docs/finals/operation.ja.md index ccab328..617938c 100644 --- a/docs/finals/operation.ja.md +++ b/docs/finals/operation.ja.md @@ -59,6 +59,8 @@ bash run_vehicle_tmux.sh - 右側④：Zenohのブリッジが起動する - 右側⑤：特になし +右側③の車両ドライバ・右側④のZenohブリッジは自動で起動します。 + ### 2. Autowareの起動 Dockerコンテナ内で行います．デフォルトでは左側①か右側②のコンテナの端末です． @@ -86,6 +88,14 @@ cd /aichallenge ./record_rosbag.bash ``` +### 4.走行終了時 + +右側⑤の端末で以下を実行し、コンテナ・tmuxを終了します。 + +```bash +./stop_vehicle_tmux.sh +``` + ## 手元のPCとECUでROS通信したい場合 - 手元のPCで以下を実行します @@ -144,6 +154,7 @@ A. 通信の安定化のために`./vehicle/zenoh.json5`のconfigファイルを 必要であれば`pub_max_frequencies: ["/*=10"],`を変更することで配信周期を上げることができます。 ### Q. 手元PCでROS Topicが遅れる・来ない + A. 通信状況によりTopicが遅れたり・ロスすることがあります。 - 手元PCで表示するTopic数を減らしたりしてみてください。また配信周期の調整も一手です。 @@ -151,6 +162,7 @@ A. 通信状況によりTopicが遅れたり・ロスすることがあります - `./vehicle/zenoh.json5`のconfigファイル内 `pub_priorities: ["/racing_kart/joy=1:express"],`でTopicの優先度を設定することも可能です - `./remote/network_setting.bash`の実行も試してみてください。 + ### Q. aichallenge-2024コンテナに入れているかわからない A. 簡易的ですがそのターミナル内でdockerコマンドを実行し`bash: docker: command not found`と出ればDocker内に入れています。