Software Setup (User)
=====================

.. image:: media/common/ros_foxy.png
    :width: 100%
    :align: center
    :class: mbsrounded

|

The following installation must be done in the Host PC that will communicate with Diablo as Diablo's Raspberry Pi comes pre-installed
with ROS2 Foxy. It is recommended to follow the instructions provide in `ROS Foxy Docs <https://docs.ros.org/en/foxy/Installation/Ubuntu-Install-Debians.html>`__  
for latest info on installation.

Set Up Your Sources List
-------------------------

.. code-block:: bash

   sudo sh -c 'echo "deb [arch=amd64,arm64] http://packages.ros.org/ros2/ubuntu DISTRO main" > /etc/apt/sources.list.d/ros2-latest.list'

Replace ``DISTRO`` with your distribution name (e.g., ``focal`` for Ubuntu 20.04).

Set Up Your Keys
-----------------

.. code-block:: bash

   curl -fsSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -

Update Your Package Index
-------------------------

.. code-block:: bash

   sudo apt update

Install ROS 2 Foxy Packages
---------------------------

.. code-block:: bash

   sudo apt install -y ros-foxy-desktop

This command installs the ROS 2 Foxy Fitzroy desktop packages, including common dependencies and tools.

Source the ROS 2 Setup Script
------------------------------

.. code-block:: bash

   source /opt/ros/foxy/setup.bash

To avoid running this command each time you open a new terminal, consider adding it to your shell's startup script (e.g., ``~/.bashrc``).

Install ROS 2 Dependencies
---------------------------

You may need to install additional dependencies based on your specific use case. Common dependencies include:

- ``python3-colcon-common-extensions``: Useful for building ROS 2 packages.

Install them using ``apt``:

.. code-block:: bash

   sudo apt install -y python3-colcon-common-extensions

Create a ROS 2 Workspace (Optional)
------------------------------------

You can create a workspace to organize your ROS 2 packages and build them:

.. code-block:: bash

   mkdir -p ~/ros2_ws/src
   cd ~/ros2_ws
   colcon build --symlink-install

This step is optional but recommended for working with ROS 2 packages.

Test Your ROS 2 Installation
-----------------------------

To verify that your ROS 2 installation is working correctly, open a new terminal and run:

.. code-block:: bash

   ros2 doctor

This command checks the system and reports any issues or missing dependencies.

You can also try running a basic ROS 2 command like:

.. code-block:: bash

   ros2 --help

This should display the ROS 2 command-line interface help message.

Nav2 Performance
----------------

Install and add the export command to your ``.bashrc`` file to enable smooth ROS2 nav experience.

.. code-block:: bash

   sudo apt install ros-foxy-rmw-cyclonedds-cpp
   export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp

Also to perform buffer increase for cyclone (do only once)

.. code-block:: bash

   echo "net.core.rmem_max=8388608\nnet.core.rmem_default=8388608\n" | sudo tee /etc/sysctl.d/60-cyclonedds.conf

ROS2 Diablo Domain ID
---------------------

Finally in your ``.bashrc`` put the ROS DOMAIN ID 5 which is the default domain id of diablo.

.. code-block:: bash

   export ROS_DOMAIN_ID=5

Congratulations! You have successfully installed ROS 2 Foxy Fitzroy on your Linux system. You can now start developing and running ROS 2 applications.

For further documentation and tutorials, refer to the official ROS 2 documentation: https://docs.ros.org/en/foxy/index.html

Software Setup (Diablo)
=======================

Connect to WiFi
---------------

Connect to Diablo via ethernet lan cable.

Then use ``sudo nmap -sP 192.168.0.*`` to find ip. The name diablo in one of thec connections should turn up.

Enter diablo via ssh, enter the command terminal and enter the following: 

.. code-block:: bash

   ssh -X diablo@192.168.0.###

The password is:

.. code-block:: bash

   diablo123

Connect the Raspberry pi to your local WiFi network via

.. code-block:: bash
  
   sudo nmtui
   
The new ip can be located via

.. code-block:: bash
   
   ifconfig

Nav2 Performance
----------------

Install and add the export command to your ``.bashrc`` file to enable smooth ROS2 nav experience.

.. code-block:: bash

   sudo apt install ros-foxy-rmw-cyclonedds-cpp
   export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp

Also to perform buffer increase for cyclone (do only once)

.. code-block:: bash

   echo "net.core.rmem_max=8388608\nnet.core.rmem_default=8388608\n" | sudo tee /etc/sysctl.d/60-cyclonedds.conf

MBS Drivers
===========

.. image:: media/gifs/diablo_box.gif
    :alt: Diablo Box Display
    :width: 100%
    :align: center
    :class: mbsrounded

|

The package is designed to work on the Diablo. To install the package
request it from  `MBS Support <support@mybotshop.de>`_ .

* Copy the provided ROS2 package into your ``ros2_ws`` and build

.. code-block:: bash

   colcon build --symlink-install

.. _RST diablo network:

Network Setup
=============

To set up a connection to the Diablo, please follow the provided guidelines:

#. Connect an Ethernet cable from your Host PC to the Ethernet port of the Diablo (Raspberry pi).  
#. Next in your Host PC, create a static connection from your network manager with an ip of ``192.168.0.51``. For the netmask, use ``255.255.255.0``.
#. Once the static connection is setup correctly, one can ``ssh`` into the on-board PC as described below.

To ssh, enter the command terminal and enter the following: 

.. code-block:: bash

   ssh -X diablo@192.168.0.<diablo_ip>

The password is:

.. code-block:: bash

   diablo123


Network tables
--------------

The following table shows Diablo's networks.

.. table:: Diablo network devices

   ============= ======================= ============== =========
   Device        Network Address         Users          Password
   ============= ======================= ============== =========
   Diablo        192.168.0.*             diablo         diablo123
   ============= ======================= ============== =========