Maila the snail (Mailamaca)

Main repository to setup the Maila project. The Maila project wants to build an autonomous car model on top of a traxxas summit rc car

                o       o
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                 /=O=O=\     _______
                /   ^   \   /\\\\\\\\
                \ \___/ /  /\   ___  \
                 \_ V _/  /\   /\\\\  \
                   \  \__/\   /\ @_/  /
                    \____\____\______/

Setup

Requirements

• Docker. To intall Docker follow the procedure reported here

• Vcstool is a version control system (VCS) tool, designed to make working with multiple repositories easier. link

  sudo pip install vcstool

• Install Visual Studio Code

First Setup

There is a handy installation script that clones the repository list contained in .maila.repos, install the necessary Visual Studio Code extension and load the environment. If an src folder already exist in the repository the clone step is skipped.

cd scripts/
./init.sh

Running docker

The remove_envoronment.sh script contains function to ease the process of running the docker image realized to support the development of the Maila software. There are 2 ways to interact with the system

• using visual studio code: here visual studio code will run the docker image and eventually we can use external terminal to connect to this images. For this just open vs-code in the workspace directory and let the ms-vscode-remote.remote-containers code extension to build and start the container for you.

  code ./

• manual: we can start the container manually. At first source remote_environment.sh this will load a set of bash function that will speed up the process and then:

  • d_build to build the image
  • d_run to run the image in a container

Connecting to a running istance

When you have a running instance of the development docker when source emote_environment.sh the script will automatically attach to the running container. Alternatively if the source were done before running the container you could also use the function d_attach to attach to a running container

Utility

When attaching to the docker console a set of aliases are loaded to ease the development

Folder navigation:

• MAILA_cd = cd <maila>/
• MAILA_cds = cd <maila>/src
• MAILA_cdd = cd <maila>/devel
• MAILA_cdi = cd <maila>/install

Code compilation

• MAILA_build build the code
• MAILA_force_clean clean the project

Miscellanea

• MAILA_source source the MAILA environment

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RANDOM STUFF TO CLEAN

Setup the workspace

Load environment

To load the project aliases, the ros packages and environment variables run:

. load_env.sh

If you want to automatically source the maila environment add the step on~/.bashrc .

Style

• for C++ .clang-format credits to DavetColemna link

VS-Code integration

• f7 build all the packages

Colcon commands

Build code

colcon build --symlink-install --cmake-args '-DCMAKE_BUILD_TYPE=Debug -DCMAKE_EXPORT_COMPILE_COMMANDS=ON'

Run test

colcon test
colcon test-result

Code formatting

https://answers.ros.org/question/325019/is-there-a-clang-format-file-for-ros-2/

https://github.com/ament/ament_lint/blob/26397786f603b8e9e4c3c399c3d33b1c6873ee0d/ament_clang_format/ament_clang_format/configuration/.clang-format

Setup of Rasperry on the Vehicle

install Ubuntu Server 20.04

(ref: https://itsfoss.com/install-ubuntu-server-raspberry-pi/)

• Write SD Card

• change file "system-boot/network-config" and add wifi SSID and password

wifis:
  wlan0:
    dhcp4: true
    optional: true
    access-points:
      "EssePi_24":
      password: "your_wifi_password"

• change hostname to "maila-raspi" (ref: https://www.cyberciti.biz/faq/ubuntu-20-04-lts-change-hostname-permanently/)

sudo hostnamectl set-hostname maila-raspi
sudo reboot

• change password to "ubuntu:ubuntu" (ref: https://www.cyberciti.biz/faq/change-a-user-password-in-ubuntu-linux-using-passwd/)

sudo passwd ubuntu
----
sudo reboot

• installing docker (ref: https://www.digitalocean.com/community/tutorials/how-to-install-and-use-docker-on-ubuntu-20-04)

sudo apt update
sudo dpkg --configure -a
sudo apt upgrade
sudo apt update
sudo apt install apt-transport-https ca-certificates curl software-properties-common
curl -fsSL https://download.docker.com/linux/ubuntu/gpg | sudo apt-key add -
sudo add-apt-repository "deb [arch=$(dpkg --print-architecture)] https://download.docker.com/linux/ubuntu focal stable"
sudo apt update
apt-cache policy docker-ce
sudo apt install docker-ce
sudo systemctl status docker
sudo usermod -aG docker ${USER}
sudo reboot

add i2c grups

(ref: https://lexruee.ch/setting-i2c-permissions-for-non-root-users.html)

• software

sudo apt-get install -y i2c-tools

• setup i2c user permission

ls /dev/i2c-1 -l
sudo chown :ubuntu /dev/i2c-1
sudo chmod g+rw /dev/i2c-1

• add udev rule

su root
echo 'KERNEL=="i2c-[0-9]*", OWNER="ubuntu", GROUP="ubuntu", MODE="0660"' >> /etc/udev/rules.d/90-local_ubuntu_group.rules

• reboot and test it

i2cdetect -y 1

add joy if needed

• setup i2c user permission on the pc and then starts the container

ls /dev/input -l
sudo chown :ubuntu /dev/input/js0

• if container is already started

ls /dev/input -l
sudo chown :snail /dev/input/js0

Setup VPN server

(ref: https://www.raspberrypi.org/forums/viewtopic.php?t=262264) (ref: https://www.cactusvpn.com/tutorials/how-to-set-up-softether-vpn-client-on-linux/) (ref: isc-dhcp-client)

• download softether vpn server

cd ~
sudo apt update
sudo apt install -y cmake gcc g++ libncurses5-dev libreadline-dev libssl-dev make zlib1g-dev
git clone https://github.com/SoftEtherVPN/SoftEtherVPN_Stable.git
cd SoftEtherVPN_Stable
# ./configure # error during make "-m64 unrecognized", installing as 32bit
cp src/makefiles/linux_32bit.mak Makefile
make -j4
sudo make -j4 install

• create file for autoexecution at startup (ref; https://linuxconfig.org/how-to-run-script-on-startup-on-ubuntu-20-04-focal-fossa-server-desktop)

sudo nano /etc/systemd/system/softether.service

with text:

[Unit]
After=network.service

[Service]
ExecStart=/usr/bin/vpnserver start
RemainAfterExit=yes

[Install]
WantedBy=default.target

• set as executable

sudo chmod 664 /etc/systemd/system/softether.service

• enable service

sudo systemctl daemon-reload
sudo systemctl enable softether.service

• settings of VPN server (via manager on windows)

vpn server maila-raspi
address: 192.168.25.60
https port: 5555
manager port: 443
admin user: maila
admin password: maila
IP-Sec preshred key: maila

users:
1:1
2:2
3:3
4:4
5:5
raspi:raspi
paoloto:paoloto
valerioma:valerioma

Setup VPN client

(ref: https://www.cactusvpn.com/tutorials/how-to-set-up-softether-vpn-client-on-linux/) (ref: https://serverfault.com/questions/586870/how-to-script-vpncmd-to-batch-command-connect-disconnect)

• run container

docker run --rm -it \
      --cap-add NET_ADMIN \
      --device /dev/net/tun \
      --name maila-dev-container -h maila \
      --user "$(id -u):$(id -g)" \
      --mount type=bind,src="$PWD",dst=/home/snail/Maila \
      -p 2222:22 \
      maila/maila-dev

• download and install

sudo apt install -y cmake gcc g++ libncurses5-dev libreadline-dev libssl-dev make zlib1g-dev
git clone https://github.com/SoftEtherVPN/SoftEtherVPN_Stable.git
cd SoftEtherVPN_Stable
# ./configure # error during make "-m64 unrecognized", installing as 32bit
cp src/makefiles/linux_32bit.mak Makefile
make -j4
sudo make -j4 install

• start vpn client batch file (https://www.softether.org/4-docs/1-manual/6._Command_Line_Management_Utility_Manual/6.2_General_Usage_of_vpncmd#6.2.3_Command_Line_Parameters_When_Starting_a_vpncmd_Command)

nano vpnclient_batchstart.txt

with text:

NicCreate vpnnic
AccountCreate mailavpn /SERVER:192.168.25.60:443 /HUB:"DEFAULT" /USERNAME:"raspi" /NICNAME:"vpnnic"
AccountPassword mailavpn /PASSWORD="raspi" /TYPE="standard"
AccountConnect mailavpn

sudo vpnclient start
sudo vpncmd localhost /client /in:vpnclient_batchstart.txt

sudo apt install -y isc-dhcp-client
sudo /usr/sbin/dhclient

• test it!

ros2 run demo_nodes_cpp talker
ros2 run demo_nodes_cpp listener