Snowplow2025

2024-2025 Hy-flex Code for ION Autonomous Snowplow

Getting Started

Install WSL

Follow these instructions: https://learn.microsoft.com/en-us/windows/wsl/install

Setup your ssh keys

Follow these instructions: https://help.github.com/articles/connecting-to-github-with-ssh/

Clone the repo

There are certain scripts that assume that you have the Snowplow2026 repo installed in your home directory. It is recommended you don't try to clone the repo anywhere else.

cd ~
git clone git@github.com:BisonRobotics/Snowplow2026.git

Install Ros 2 Iron

cd ~/Snowplow2026
sudo bash rosinstall.sh

Deploying and Running Code

Deploy to the computer

Use winSCP to copy desired module to the computer. Open 192.168.1.1 in your browser while connected to the network to find the target IP.

Run Program

SSH into the computer. Open 192.168.1.1 in your browser while connected to the network to find the target IP.

ssh br@x.x.x.x

In the ssh terminal

sudo su
cd route/to/the/project
colcon build
source /opt/ros/iron/setup.bash 
(and/or)
source install/setup.bash
ros2 launch launch/script_name.launch.py

Development Conventions

Style Guidelines

ROS

See: http://wiki.ros.org/ROS/Patterns/Conventions And: http://wiki.ros.org/StyleGuide

C++

See: http://wiki.ros.org/CppStyleGuide And: https://google.github.io/styleguide/cppguide.html

Python

See: http://wiki.ros.org/PyStyleGuide

Unit Testing

See: http://wiki.ros.org/Quality/Tutorials/UnitTesting

Misc Info

Motor Controllers

Roboteq HDC2460
Roboteq User Manual

Onboard computer login information

name:
server:
user:
pass:
address:

Common hosts ref : access point: 192.168.1.10 Computer: 192.168.1.1

Deployment

Where to Deploy

Most changes will need to be deployed to the main computer. Changes to the jetson_pkg package will require a deployment to the Jetson and not to the main computer.

Main Computer

Connect to the main computer using WinSCP. Drag and drop this entire project into the main computer's file system. It will likely ask you if you want to overwrite the existing directory with the same name. If so, select yes.

Jetson

Connect to the Jetson using WinSCP. Drag and drop this entire project into the Jetson's file system. It will likely ask you if you want to overwrite the existing directory witht he same name. If so, select yes.

Robotics Simulation

1. Install Webots on your Ubuntu Linux system.

2. Execute the following commands in your terminal:

$ printf '\nexport ROS2_WEBOTS_HOME="/snap/webots/current/usr/share/webots"\n' >> ~/.bashrc

3. Close and reopen your terminal.

4. Building the package:

$ colcon build

5. Source the workspace:

$ source install/setup.bash

6. Run the simulation launch file:

$ ros2 launch launch/simulation/hyflex_sim.launch.py