Robocar Framework
Setup & Calibration

docker pull ghcr.io/ucsd-ecemae-148/ucsd_robocar:stable

docker images | grep ucsd_robocar
# Expected output:
# ghcr.io/ucsd-ecemae-148/ucsd_robocar   stable   <id>   <date>   9.43GB

sudo apt update
sudo apt install -y x11-apps

# Use -Y (trusted forwarding) — required for the Docker container
ssh -Y pi@ucsdrobocar-148-XX.local

# Alternatively, -X (untrusted forwarding) — use only if -Y is unavailable
ssh -X pi@ucsdrobocar-148-XX.local

xeyes
# A pair of animated eyes should appear on YOUR LAPTOP SCREEN
# The eyes follow your mouse cursor. Press Ctrl+C to close.

xauth generate $DISPLAY . trusted
xauth list      # Confirm credentials were written
exit
ssh -Y pi@ucsdrobocar-148-XX.local

nano ~/.bashrc  # Scroll to the bottom and paste the function below

robocar_docker() {
  docker run \
    --name MY_CONTAINER_NAME \
    -it \
    --privileged \
    --net=host \
    -e DISPLAY=$DISPLAY \
    -e ROS_DOMAIN_ID=YOUR_TEAM_ID \
    --volume /dev/bus/usb:/dev/bus/usb \
    --device-cgroup-rule='c 189:* rmw' \
    --device /dev/video0 \
    --volume="$HOME/.Xauthority:/root/.Xauthority:rw" \
    --volume /etc/passwd:/etc/passwd:ro \
    --volume /etc/group:/etc/group:ro \
    ghcr.io/ucsd-ecemae-148/ucsd_robocar:${2:-stable}
}

source ~/.bashrc
robocar_docker MY_CONTAINER_NAME

# Start the stopped container (run this after a reboot or after exiting)
docker start MY_CONTAINER_NAME

# Open an interactive terminal inside the running container
docker exec -it MY_CONTAINER_NAME bash

# Open ADDITIONAL terminal tabs into the SAME running container
docker exec -it MY_CONTAINER_NAME bash

# DISPLAY must not be empty — it should show a value like :10 or :11
echo $DISPLAY

# xeyes must appear on YOUR LAPTOP SCREEN
xeyes

AttributeError: module 'apport_python_hook' has no attribute 'install'

cat > /usr/lib/python3.8/sitecustomize.py <<'EOF'
try:
    import apport_python_hook
    if hasattr(apport_python_hook, 'install'):
        apport_python_hook.install()
except Exception:
    pass
EOF

rm -f /usr/lib/python3.8/__pycache__/sitecustomize.cpython-38.pyc 2>/dev/null || true
python3 -c "print('Python OK')"
ros2 --help | head -3

cd /home/projects/ros2_ws/src/ucsd_robocar_hub2/ucsd_robocar_nav2_pkg

cat > setup.py <<'EOF'
from setuptools import setup
import os

package_name = 'ucsd_robocar_nav2_pkg'

def package_files(directory):
    paths = []
    for (path, _, filenames) in os.walk(directory):
        for f in filenames:
            paths.append(os.path.join(path, f))
    return paths

data_files = [
    ('share/ament_index/resource_index/packages', ['resource/' + package_name]),
    ('share/' + package_name, ['package.xml']),
]

for d in ['launch', 'config', 'rviz', 'urdf', 'ros_data']:
    if os.path.isdir(d):
        data_files.append((os.path.join('share', package_name, d), package_files(d)))

setup(
    name=package_name, version='0.0.0',
    packages=[package_name], data_files=data_files,
    install_requires=['setuptools'], zip_safe=True,
    maintainer='root', maintainer_email='root@todo.todo',
    description='Nav2 launch/config package for UCSD RoboCar',
    license='TODO', tests_require=['pytest'],
    entry_points={'console_scripts': []},
)
EOF

cd /home/projects/ros2_ws
rm -rf build install log
colcon build --symlink-install
source install/setup.bash
ros2 pkg list | grep ucsd_robocar

# ── Source workspace only (fast — no recompilation) ──────────────────────
alias source_ros2='source /home/projects/ros2_ws/install/setup.bash && echo "[ROS2] Workspace sourced ✓"'

# ── Full build then source (use after ANY file change) ───────────────────
alias build_ros2='cd /home/projects/ros2_ws && colcon build --symlink-install && source install/setup.bash && echo "[ROS2] Build complete ✓"'

# ── Source the global ROS2 base installation ──────────────────────────────
source /opt/ros/foxy/setup.bash 2>/dev/null

source ~/.bashrc
source_ros2    # Should print: [ROS2] Workspace sourced ✓
build_ros2     # Should print: [ROS2] Build complete ✓

dmesg | grep -i 'usb\|over-current\|power' | tail -20
lsusb | grep -i 'movidius\|luxonis\|intel'

sudo nano /boot/config.txt
# Add this exact line at the END of the file:
max_usb_current=1
sudo reboot

nano ~/.bashrc
# Find the line that reads: -e ROS_DOMAIN_ID=YOUR_TEAM_ID
# Change it to your team number, for example Team 4:
-e ROS_DOMAIN_ID=4 \

nano ~/.bashrc
# Add this line (replacing 4 with your actual team number):
export ROS_DOMAIN_ID=4
source ~/.bashrc

# Must print your team number — if empty, isolation is NOT active
echo $ROS_DOMAIN_ID
ros2 topic list   # Verify you only see your own topics
ros2 node list    # Verify you only see your own nodes

nano /home/projects/ros2_ws/src/ucsd_robocar_hub2/ucsd_robocar_nav2_pkg/config/node_config.yaml

all_components:          1
camera_nav_calibration:  1   # ✅ ENABLE — opens the calibration slider GUI
sensor_visualization:    1   # Enable for LiDAR visualization (set 0 if not using LiDAR)
camera_nav:              0   # ❌ DISABLE — autonomous driving must be OFF during calibration

nano /home/projects/ros2_ws/src/ucsd_robocar_hub2/ucsd_robocar_nav2_pkg/config/car_config.yaml

oakd:              1   # Enable the OAK-D camera
vesc_without_odom: 1   # Enable VESC motor controller (no odometry feedback needed)

build_ros2
# Wait for "Build complete ✓" — this takes 30–120 seconds

source_ros2
ros2 launch ucsd_robocar_nav2_pkg all_nodes.launch.py

nano /home/projects/ros2_ws/src/ucsd_robocar_hub2/ucsd_robocar_nav2_pkg/config/node_config.yaml

all_components:          1
camera_nav_calibration:  0   # ❌ DISABLE — calibration GUI not needed during racing
sensor_visualization:    0   # ❌ DISABLE — saves CPU cycles for the control loop
camera_nav:              1   # ✅ ENABLE — activates autonomous lane following

build_ros2
# Wait for "Build complete ✓"

nano /home/projects/ros2_ws/src/ucsd_robocar_hub2/ucsd_robocar_lane_detection2_pkg/config/ros_racer_calibration.yaml

lane_guidance_node:
  ros__parameters:
    Kp_steering:        0.4    # Start here — increase if sluggish, decrease if oscillating
    Ki_steering:        0.01   # Keep near zero unless car has a persistent one-sided drift
    Kd_steering:        0.1    # Increase to dampen oscillation
    zero_throttle:      0
    max_throttle:       0.382  # Moderate speed — increase carefully after verifying straight tracking
    min_throttle:       0.363  # Minimum to overcome static friction on your track surface
    error_threshold:    0.15   # Dead band (0–1 normalized error scale)
    max_right_steering: 1
    max_left_steering:  -1

vesc_twist_node:
  ros__parameters:
    steering_polarity:  1       # Change to -1 if steering direction is reversed
    throttle_polarity:  1       # Change to -1 if the car drives backward instead of forward
    max_potential_rpm:  20000
    zero_throttle:      0
    max_throttle:       0.382
    min_throttle:       0.363
    straight_steering:  0
    max_right_steering: 1
    max_left_steering:  -1

source_ros2
build_ros2          # Always build before launching to catch any unsaved YAML changes
ros2 launch ucsd_robocar_nav2_pkg all_nodes.launch.py

ros2 param set /lane_detection_node debug_cv 1   # Turn ON visual overlay window
ros2 param set /lane_detection_node debug_cv 0   # Turn OFF (reduces CPU during racing)

#!/usr/bin/env python3
import rclpy
from rclpy.node import Node
from std_msgs.msg import Float32
from geometry_msgs.msg import Twist

class LaneErrorMonitor(Node):
    def __init__(self):
        super().__init__('lane_error_monitor')
        self.sub = self.create_subscription(Float32, '/error', self.error_callback, 10)
        self.pub = self.create_publisher(Twist, '/cmd_vel', 10)
        self.get_logger().info('LaneErrorMonitor started!')

    def error_callback(self, msg: Float32):
        self.get_logger().info(f'Error: {msg.data:.4f}')
        if abs(msg.data) > 0.8:
            self.get_logger().warn('CRITICAL ERROR — sending stop command!')
            self.pub.publish(Twist())  # Zero velocity to stop the car

def main(args=None):
    rclpy.init(args=args)
    node = LaneErrorMonitor()
    try:
        rclpy.spin(node)
    except KeyboardInterrupt:
        pass
    finally:
        node.destroy_node()
        rclpy.shutdown()

if __name__ == '__main__':
    main()

entry_points={
    'console_scripts': [
        'lane_monitor = ucsd_robocar_nav2_pkg.my_custom_node:main',
        'test_drive   = ucsd_robocar_nav2_pkg.test_drive_node:main',
    ],
},

build_ros2
ros2 run ucsd_robocar_nav2_pkg lane_monitor