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PitUsage.md

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Pit Usage Guide

Note: Throughout this README, NUCX refers to a generic identificative name for a physical car.

Once you are connected to the Zerotier SDWAN as in here (or once you have fixed IPs assigned to the cars) you are able to SSH into the car. But you will want to interact/visualize/debug the car from your laptop aka the pit.

Therefore you will need the pit_starter.sh from the utils directory. To use it:

  • cd <race_stack folder>/f110_utils/scripts/pit_starter
  • source pit_starter.sh <YOUR_ZEROTIER/FIXED_IP> <NUCX> rviz
  • Enjoy freshly sourced NUCX and runs the rviz with the correct config.
  • Pro tip: If you only want to source the NUCX then dont use the rviz argument

For convenience, it's nice to set up some aliases in your bashrc (Bash shell config file) to speed-up different things. Your bashrc is found in ~/.bashrc. An example is below.

NOTE: the path of your race_stack is assumed to be in ~/catkin_ws/src, but it might not be the case for you. So change if needed.

First, get your Zerotier IP handy, if applicable. You can do so by running ifconfig in the terminal and see the inet address for the network adapter that starts with zt.

#Source setup bashes
source /opt/ros/noetic/setup.bash
source ~/catkin_ws/devel/setup.bash

# aliases for different ROS distros.
alias sros1="source /opt/ros/noetic/setup.bash"
alias sf1="sros1; source ~/catkin_ws/devel/setup.bash"  # for convenience, no need to source ROS1 first.
alias sauce="sf1"

# aliases to get into cars faster
alias sshnuc2="ssh -XC <car_username@<car_fixed_IP>"

# TODO : Check your Zerotier IP first! if it starts with 192.168.192 then you can use the following line, otherwise you need to change it.
export ZEROTIER_IP=$( ifconfig | awk '/inet 192.168.192/ {print $2}' )

# Helpers for Pit Starter Source (if you just want to set the environment variables in your system)
alias pit1='source ~/catkin_ws/src/race_stack/f110_utils/scripts/pit_starter/pit_starter.sh "$ZEROTIER_IP" NUC2'

# If you want to source and open RViz too
alias pit_rviz2='source ~/catkin_ws/src/race_stack/f110_utils/scripts/pit_starter/pit_starter.sh "$ZEROTIER_IP" NUC2 rviz'


# for ease of access to the scripts
alias scripz='cd ~/catkin_ws/src/race_stack/stack_master/scripts'

# If you want to check which nucs are online
alias nucs='bash ~/catkin_ws/src/race_stack/f110_utils/scripts/nucs.sh'

Note that the Pit Starter Script also supports the opening of RViz and rqt at the same time. This functionality is not included in this alias for brevity.

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