Building the code on the rocket

In order to speed up the build you can use the following command to skiplist a bunch of unnecessary packages

catkin config --skiplist forces_pacejka_mpcc_solver pacejka_model kinematic_model stacked_model imu_bias custom_model_template parafoil_4dof_model acados_pacejka_mhe_solver lowpass_estimator ff_fb_controller
 mpc_controller acados_pacejka_mpcc_solver acados_pacejka_tracking_mpc_solver acados_pacejka_safety_solver pid_controller ros_wifi_com ros_simulator ros_safety_framework ros_estimators ros_backtracker mocap_vicon

How to start the Rocket

A number of steps are involved to run an experiment with the rocket. For guaranteed (not rly) success, you can follow these steps:

1. Plug in the RPi (either usb-c or battery)
2. ssh into the RPi (if you need internet access you will need to ssh via ethernet cable and share the laptop wifi with the pi
3. open a tmux session
4. cd into crs-2.0 and execute crs-docker run
5. pull code if necessary (you need access to the repository) and build if applicable
6. Make sure that qualisys is running
7. roslaunch crs_launch run_rocket.launch if you just want to launch stuff. if you however want to also be able to visualize stuff on your laptop, follow these instructions
8. on the GCS Laptop, cd into Desktop/emborocket/rockpara-joycon and execute source venv/bin/activate and then run python3 local.py

NOTE: RC WINDOW ALWAYS NEEDS TO BE ACTIVE IN ORDER FOR THE ROCKET TO REACT TO RC COMMANDS

The software should now be running. Otherwise, here are some hints to stuff that could commonly go wrong:

• Raspberry pi rebooted when you switched from power adapter:
  • Once you have restarted the PI, make sure that it has the correct date using date. If not, you will have to connect the pi to the internet and sync the clock. How you do that I'm not entirely sure, waiting a bit with an active connection to the internet seemed to help it.
• Random error messages related to qualisys. Quit and reopen qualisys and hope for the best...