Relativity - Closed Loop Robot Control

How to Setup Environment

Clone this repository onto a Linux system (Ubuntu). Enter the closed_loop_robot_sim directory.

cd path/to/cloned/directory/closed_loop_robot_sim

Robot simulation can be run in docker container. First, the user must install docker, or verify it is installed on your machine. To install execute the docker.sh script with the argument install. After the installation concludes log out of and into your user account to be able to use docker as a non-sudo user.

# To install docker
./docker.sh install

# To check if installed
docker --version
# Should output 'Docker version X.X.X, build XXX' if installed

Then, you can create the docker image that will be used to run the simulation. To do so, run the below command:

# To build image, run script with argument install
./docker.sh build

NOTE: The first time you run this, it will take ~10 min to build the container. After the image is built is on your system, you can check for it by running the command:

docker images
# You should see output like:
# REPOSITORY            TAG     IMAGE ID    CREATED             SIZE
# relativity/cl_robot   0.1    ...         A few seconds ago   1.13 GB

You can remove this docker image from your computer with the command: ./docker.sh remove
You can run the docker container to an interactive terminal with the command ./docker.sh bash
You can attach to the running docker container by opening a new terminal window/tab with the command: ./docker.sh another

How to Run

Open Grafana interface in Firefox or similar browser at http://localhost:3000/. It make take several refreshes to open.
Robot sim will be running in the docker container, and information being sent to your local browser.

Log into Grafana with username admin and password admin.
Open the dashboard "Sensor Dashboard". Once logged in,this option should be available on the home page under 'Recently viewed dashboards'.

cd path/to/cloned/directory
./docker.sh bash

# In docker container
./run.sh

Testing

I did not unit test (lack of time), but I did write some pytest files to verify basic functionality of components and do integration testing for pub/sub.

All tests can be run in docker bash (./docker.sh bash) with the pytest command.

pytest test/infra/test_mqtt_wrappers.py     # Test test_mqtt_wrappers.py script
pytest -s test/infra/test_mqtt_wrappers.py  # Test test_mqtt_wrappers.py script with log output display
pytest -v test/infra/test_mqtt_wrappers.py  # Test test_mqtt_wrappers.py script with test summary output display

To Do/Current Status

See docs/remaining_work.md

Software Design diagram

Software design diagram - explains communication and modules

Troubleshooting

To check if Grafana server is running, execute command sudo service grafana-server status in docker terminal.

To check if InfluxDB server is running, execute command sudo service influxdb status in docker terminal.
Can also check server is active with command curl -sl -I localhost:8086/ping.

To check if Grafana server is running, execute command sudo service mosquitto status in docker terminal.

To see all statuses, execute command sudo service --status-all in docker terminal.