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Running a Guest Science Application

This readme assumes you have followed the Guest Science Developer Guide and the freeflyer/simulation/sim_overview.md.

It also assumes that freeflyer_android is checked out in $ANDROID_PATH, freeflyer is checked out in $SOURCE_PATH, and you are building in $BUILD_PATH.

This readme teaches you how to run a Guest Science Application by running one of the Guest Science examples. Once you have your own Guest Science Application, it should be trival to use these instructions and replace the example name with your project's name. Please follow all four sections. However, if you are doing Java only development, please use the Java only subsections and if you are using the emulator or HLP board, please use the Android subsections.

1. Setup

In every terminal you use, be sure to set up your environment. If you forgot how to do this, follow the Setting up your Environment section of the freeflyer/simulation/sim_overview.md.

Java Only

Coming soon!!!

Android

Please start your emulator or HLP board and make sure you can communicate with it (adb and network i.e. ping). Please refer to the emulator or the HLP board instructions if you forget how to do this.

Build and Install the Guest Science Manager

you@machine:~ $ cd $ANDROID_PATH/core_apks/guest_science_manager
you@machine:guest_science_manager $ ANDROID_HOME=$HOME/Android/Sdk ./gradlew assembleDebug
you@machine:guest_science_manager $ adb install -gr activity/build/outputs/apk/activity-debug.apk

Important Please make sure to type the g before r. If you don't, Android will not grant the APK the right permissions and the APK will fail to excute.

Build and Install the Test Simple Trajectory Example

You will be running the test simple trajectory example. This example undocks the Astrobee and then moves it in a rectangular shape.

you@machine:~ $ cd $ANDROID_PATH/gs_examples/test_simple_trajectory
you@machine:guest_science_manager $ ANDROID_HOME=$HOME/Android/Sdk ./gradlew assembleDebug
you@machine:guest_science_manager $ adb install -gr app/build/outputs/apk/app-debug.apk

Important Please make sure to type the g before r. If you don't, Android will not grant the APK the right permissions and the APK will fail to excute.

Set ROS Environment Variables

Please open two terminals and do the following in both terminals:

you@machine:~ $ export ROS_IP=$(getent hosts llp | awk '{ print $1 }')
you@machine:~ $ export ROS_MASTER_URI=http://${ROS_IP}:11311
you@machine:~ $ echo $ROS_IP

Ensure you can ping/connect to the ip echoed.

When you get to section 2 (Run the Simulator), use terminal 1. When you get to section 4 (Guest Science Commanding), use terminal 2.

2. Run the Simulator

Please start the simulator. If you forgot how to do this, follow the Running the Simulator section of the freeflyer/simulation/sim_overview.md.

3. Start the Guest Science Manager

Java Only

Coming soon!!!

Android

you@machine:~ $ ./$ANDROID_PATH/scripts/gs_manager.sh start

4. Guest Science Commanding

you@machine:~ $ cd $SOURCE_PATH/tools/gds_helper/
you@machine:gds_helper $ python gds_simulator.py

The GDS simulator is interactive. It will prompted you for the next step.

  1. Press any key to grab control
  2. Select the Guest Science Application (GSA) you are trying to run
  3. Type b and press Enter to start the GSA
  4. Press Enter to stop listening for data
  5. Press any key to get back to the application menu

If you want to see the robot move, command it to do so:

  1. Type d and press Enter to send a custom guest science command
  2. Type 1 and press Enter to run the trajectory

Now Astrobee will undock and move in a rectangle.

5. Stop

In the terminal running the GDS simulator, please do the following:

  1. If needed, press Enter to stop listening for data
  2. If needed, press any key to get back to the application menu
  3. Type c and press Enter to stop the GSA
  4. Press Enter to stop listening for data
  5. Press any key to get back to the application menu
  6. Type f aad press Enter to exit the GDS simulator

In the terminal running the simulator, enter Ctrl+c

Java Only

Coming soon!!!

Android

you@machine:~ $ ./$ANDROID_PATH/scripts/gs_manager.sh hard_stop

To close the emulator, click on the x symbol.