Deployment Scripts

Code is deployed to the robot as a Docker image. Most actions are automated with the robot.sh script.

Example Uses

Deploying

./robot.sh -a deploy

This will copy and build your current workspace on the NUC. After building it will start execuiting on the NUC after stopping any previous code. A custom launch command can be given through command line arguments after deploy. After starting, your shell will show stdout/stderr from the NUC. Ctrl+Cing in your shell will not stop the process on the NUC.

Starting/Stopping

./robot.sh -a start
./robot.sh -a stop

These start/stop commands will start and stop the last image that has been deployed to the NUC. A custom launch command can be given through command line arguments after start. After starting, your shell will show stdout/stderr from the NUC. Ctrl+Cing in your shell will not stop the process on the NUC.

Viewing the console

./robot.sh -a watch

"Watching" the console will watch the output of stdout/stderr, while also showing output from before you connected. Ctrl+Cing in your shell will not stop the process on the NUC.

Configuration

Deployment script configuration is set in robot.env. ROBOT_IP and DEFAULT_LAUNCH set the target system and default command to execute when starting an image. Other parameters like image/container name can be tweaked, but please don't change them on the competition robot without good reason.

Help, I can't connect

Make sure you

• Connected to the robot_onboard WiFi network.
• Have Docker installed on your machine (a local daemon does not need to be running)
• Have your SSH key trusted by the NUC (see instructions in the computer-configuration folder)
• Recieve a response with ping 192.168.1.22
  • If you get a request timeout after the NUC has been powered on for a minute, power cycle the NUC

I want to deploy the stack locally (magellan_sim)

Simply add the -l flag to your robot.sh command. Use the local flag with all other robot.sh functions as well.

./robot.sh -a deploy -l

Interact with stack

To interact with the robot (rostopic, ./robot.sh -a ssh, rosnode, etc) run

source rostarget.sh

To interact with the sim, simply add the --local flag.

source rostarget.sh --local