RoboJackets Wiki - User contributions [en]

Profiling ROS Nodes

2019-09-19T19:55:48Z

Ebretl3:

Here is a guide for one effective method for profiling the performance of ROS nodes. It uses valgrind to count the number of calls to every function and the amount of time spent in each call, and uses KCacheGrind to visualize and explore this data in a nice GUI.

Note: any usage of profilers and code analysis tools like valgrind, gdb, etc require building with debug symbols. <code>catkin_make</code> in default configuration (DEBUG) has debug symbols but also has many optimizations turned off.

Installation:
sudo apt install valgrind kcachegrind

Profiling with rosrun:
rosrun --prefix="valgrind --tool=callgrind --callgrind-out-file=outfile" pkg node
kcachegrind outfile

Usage with roslaunch:
foo.launch:
<launch>
<node pkg="a" type="a" name="a" launch-prefix="valgrind --tool=callgrind --callgrind-out-file=outfile"/>
</launch>
roslaunch foo.launch
kcachegrind ~/.ros/outfile

[[Category:Software]]
[[Category:RoboRacing]]

RoboRacing

2019-09-19T19:08:46Z

Ebretl3: /* Resources */

[[Category:RoboRacing]]
RoboRacing is a competitive robotics team geared towards autonomous racing of small scale automotive platforms. The team started in 2013 and has since built robots to compete in the IARRC competition since the team's inception, as well as the Sparkfun AVC competition since 2016. RoboRacing is additionally planning on competing in the evGrand Prix Autonomous competition in 2020.

RoboRacing puts its members at the forefront of emerging technology in self-driving cars through involvement in autonomous RC vehicle design, fabrication, and programming. Each competition has proven to be a great learning opportunity for everything from robust mechanical design to advanced programming skills that could be applied to diverse engineering applications. 

== Meeting Times ==

Mondays: 6:30-9:00 PM

Sundays: 4:00-7:00 PM

Location: GA Tech SCC (Student Competition Center)

Carpool Pickup Locations: North Avenue Apartments & West Village

== Current Leadership ==
* Project Manager: Austin Keener
* Electrical Lead: Varun Madabushi
* Mechanical Lead: Michael Benben
* Software Lead: Daniel Martin

==Upcoming Competitions==
===IARRC 2020===
RC scale autonomous racing and navigation.

http://iarrc.ca/
* Rules
* Date: TBD
===evGrand Prix Autonomous 2020===
Autonomous high speed racing of full-size go karts.

https://evgrandprix.org/autonomous/
* Rules
* Date: TBD

== Past Competitions ==

===IARRC===

{| class = "wikitable" style = "width:95%;"
|- style="font-size:15px;" |
| style="width:20%;" | '''Bot'''
| style="width:20%;" | '''Competition Years'''
| style="width:20%;" | '''Versions'''
| style="width:40%;" | '''Design Reports'''
|-
| style="font-size:15px;" | '''Sedani'''
| 2018 - 2019
| Sedani, Sedanii
|
* '''Version 1:''' [[:File:RoboJackets-IARRC-2018.pdf| Sedani Design Report]]
* '''Version 2:''' [[:File:RoboRacing_IAARC_2019_Sedaniii_Design_Report.pdf| Sedanii Design Report]]
|-
| style="font-size:15px;" | '''Macaroni'''
| 2017
| Macaroni
|
* '''Version 1:''' [[:File:RoboJackets_RoboRacing_IARRC_Design_Report_2017.pdf| Macaroni Design Report]]
|-
| style="font-size:15px;" | '''Speedi'''
| 2014-2016
| Speedi, Speedii, Speediii
|
* '''Version 1:''' [[:File:Robojackets-iarrc-2014.pdf| Speedi Design Report]]
* '''Version 2:''' [[:File:Robojackets-iarrc-2015.pdf| Speedii Design Report]]
* '''Version 3:''' [[:File:Robojackets-iarrc-2016.pdf| Speediii Design Report]]
|}

Results:

{| class = "wikitable" style = "width:95%;"
|- style="font-size:15px;" |
| style="width:20%;" | '''Year'''
| style="width:20%;" | '''Placement'''
| style="width:20%;" | '''Additional Awards'''
|-
| style="font-size:15px;" | '''2019'''
| 1st Place Overall
|
|-
| style="font-size:15px;" | '''2018'''
| Did Not Place
|
|-
| style="font-size:15px;" | '''2017'''
| 3rd Place Overall
|
|-
| style="font-size:15px;" | '''2016'''
| 1st Place Overall
|
|-
| style="font-size:15px;" | '''2015'''
| 4th Place Overall
|
|-
| style="font-size:15px;" | '''2014'''
| 1st Place Overall
|
|}

===Sparkfun AVC===
{| class = "wikitable" style = "width:95%;"
|- style="font-size:15px;" |
| style="width:20%;" | '''Bot'''
| style="width:20%;" | '''Competition Years'''
| style="width:20%;" | '''Versions'''
| style="width:40%;" | '''Design Reports'''
|-
| style="font-size:15px;" | '''Bigoli'''
| 2016-2018
| Bigoli, Bigolii
|
|}

Results:

{| class = "wikitable" style = "width:95%;"
|- style="font-size:15px;" |
| style="width:20%;" | '''Year'''
| style="width:20%;" | '''Car Wars'''
| style="width:20%;" | '''Speed Demons'''
| style="width:20%;" | '''Additional Awards'''
|-
| style="font-size:15px;" | '''2018'''
| Did Not Place
| 1st Place
|
|-
| style="font-size:15px;" | '''2017'''
| 1st Place
| Did Not Place
|
|}

== Resources ==
[[How To Record Data On Sedani]]

[[Setting Up Ubuntu for Ethernet LAN While Preserving Wifi Internet Access]]

[[How to Setup CLion for ROS]]

[[Profiling ROS Nodes]]

Profiling ROS Nodes

2019-09-19T19:08:27Z

Ebretl3: Created page with "Here is a guide for one effective method for profiling the performance of ROS nodes. It uses valgrind to count the number of calls to every function and the amount of time spe..."

Here is a guide for one effective method for profiling the performance of ROS nodes. It uses valgrind to count the number of calls to every function and the amount of time spent in each call, and uses KCacheGrind to visualize and explore this data in a nice GUI.

Note: any usage of profilers and code analysis tools like valgrind, gdb, etc require building with debug symbols. <code>catkin_make</code> in default configuration (DEBUG) has debug symbols but also has many optimizations turned off.

Installation:
sudo apt install valgrind kcachegrind

Usage with rosrun:
valgrind --tool=callgrind --callgrind-out-file=/path/to/file rosrun pkg node
kcachegrind /path/to/file

Usage with roslaunch:
<node pkg="pkg" type="type" name="name" launch-prefix="valgrind --tool=callgrind --callgrind-out-file='/path/to/file'"/>

[[Category:Software]]
[[Category:RoboRacing]]

RoboRacing

2019-09-19T16:34:23Z

Ebretl3: /* Resources */

Category:RoboRacing

2019-09-19T16:26:50Z

Ebretl3: Created page with "Links to anything relevant to RoboRacing"

Links to anything relevant to RoboRacing

RoboRacing

2019-09-19T16:25:56Z

Ebretl3:

RoboRacing

2018-09-18T22:45:11Z

Ebretl3: Adds design report pdf to IARRC 2017

[[Category:RoboRacing]]
If you love RC vehicle sized autonomous race cars or are interested in learning about autonomous cars on a small scale, RoboRacing is for you! Our RoboRacing team started in 2013. The team initially competed in the [http://robotracing.wordpress.com/ International Autonomous Robot Racing Challenge] (IARRC) competition. Starting in 2016, RoboRacing also competes in [https://avc.sparkfun.com/ Sparkfun’s Autonomous Vehicle Competition (AVC)].

Our RoboRacing team, being involved in autonomous RC vehicle design, fabrication, and programming, puts its members at the fore front of emerging technology in self driving cars. Each competition has proven a great opportunity for learning everything from robust mechanical design to advanced programming skills that could be applied to diverse engineering applications. 

== Meeting Times ==

Mondays  - 6:30 PM

Sundays - 4 PM

Carpool locations - North Avenue Apartments & West Village

== Important Dates ==

=== IARRC 2018 ===

July 13-15, 2018

http://iarrc.ca/

=== Sparkfun AVC ===

September 7-9, 2018

https://avc.sparkfun.com/

== Competition Info ==

=== IARRC ===
*[http://iarrc.ca/rules/ Rules]

=== Sparkfun AVC ===
* [https://avc.sparkfun.com Rules]

== Results ==

=== 2018 ===
* IARRC
** Did not place
** [[:File:RoboJackets-IARRC-2018.pdf|Team Report]]
* AVC
** Speed Demons
*** 1st Place in Higher Ed
** Autonomous Car Wars
*** Did not finish

=== 2017 ===
* IARRC
** 3rd overall
** [[:File:RoboJackets_RoboRacing_IARRC_Design_Report_2017.pdf|Team Report]]
* AVC
** Autonomous Car Wars
*** 1st
** Speed Demons
*** Did not finish

=== 2016 ===
* IARRC
** 1st overall
* AVC
** Classic AVC
*** Did not finish

=== 2015 ===
* IARRC
** 4th overall
** [[:File:Robojackets-iarrc-2015.pdf|Team Report]]

=== 2014 ===
* IARRC
** 1st overall

== Resources ==
[[How To Record Data On Sedani]]

== NOTE ==
This page formerly included a description of the Homecoming Car project. That project now has a dedicated page at [[Homecoming car]].

File:RoboJackets RoboRacing IARRC Design Report 2017.pdf

2018-09-18T22:43:03Z

Ebretl3:

Setting Up Ubuntu for Ethernet LAN While Preserving Wifi Internet Access

2018-03-20T13:21:41Z

Ebretl3:

In 2018, both RoboRacing and IGVC are adding features to their robot which work through the Ethernet hardware. By default, Ubuntu prioritizes the ethernet interface over wifi. In situations where an internet connection is still desired (e.g. SSH connection to robot, pulling from remote changes on git repo onto the robot), Ubuntu can be easily configured to use ethernet for local network connections only.

=== Creating a LAN-only Network Interface: ===
# Open the connections editor from the network drop-down ("Edit Connections...") or launch <code>nm-connections-editor</code>
# Select the wired connection (the local one, which we don't want to use for Internet access) and click "Edit"
# Under IPv4 settings, change Method to "Manual"
# Enter any static IP (e.g. 10.*.*.*), set Netmask to 255.255.255.0 (or 24), and leave Gateway blank
# Select "Routes..." and enable "Use the connection only for resources on its network"
# Save progress and restart your networking stack: "Enable Networking" twice or <code>nmcli n off && nmcli n on</code>
You should now be able to both access the Internet and ping devices on your Ethernet LAN.

=== Adding a Second Interface for Normal Internet Usage ===
This is useful if you are testing on a personal laptop and sometimes like to use Ethernet like a normal person.
# Open the connections editor
# Select "Add..." and then "Ethernet"
# Set IPv4 Method to "Automatic (DHCP)"
# It should be easy to switch between the two interfaces through the network manager menu or the <code>nmcli</code> tool.

User:Ebretl3

2018-03-20T01:38:46Z

Ebretl3:

'''Name:''' Evan Bretl

'''E-mail:''' evanbretl4@gmail.com

'''Phone:''' +1-513-969-5800 (Cell)

'''Major:''' B.S. Computer Science

'''Positions:'''

* RoboRacing Project Manager (Fall 2017 - Spring 2018)

User:Ebretl3

2018-03-20T01:33:48Z

Ebretl3: Created page with "filler"

filler

Setting Up Ubuntu for Ethernet LAN While Preserving Wifi Internet Access

2018-03-20T01:24:26Z

Ebretl3: Ebretl3 moved page Setting Up Ubuntu for MBED over Ethernet to Setting Up Ubuntu for Ethernet LAN While Preserving Wifi Internet Access: Old title was inaccurate

In 2018, both RoboRacing and IGVC are adding features to their robot which work through the Ethernet hardware. By default, Ubuntu prioritizes the ethernet interface over wifi. In situations where an internet connection is still desired (e.g. SSH connection to robot, pulling from remote changes on git repo onto the robot), Ubuntu can be easily configured to use ethernet for local network connections only.

=== Procedure: ===
# Open the connections editor from the network drop-down ("Edit Connections...") or launch <code>nm-connections-editor</code>
# Select the wired connection (the local one, which we don't want to use for Internet access) and click "Edit"
# Under IPv4 settings, change Method to "Manual"
# Enter any static IP (e.g. 10.*.*.*), set Netmask to 255.255.255.0 (or 24), and leave Gateway blank
# Select "Routes..." and enable "Use the connection only for resources on its network"
# Save progress and restart your networking stack: "Enable Networking" or <code>nmcli n off && nmcli n on</code>
You should now be able to both access the Internet and ping devices on your Ethernet LAN.

Setting Up Ubuntu for MBED over Ethernet

2018-03-20T01:24:26Z

Ebretl3: Ebretl3 moved page Setting Up Ubuntu for MBED over Ethernet to Setting Up Ubuntu for Ethernet LAN While Preserving Wifi Internet Access: Old title was inaccurate

#REDIRECT [[Setting Up Ubuntu for Ethernet LAN While Preserving Wifi Internet Access]]

Setting Up Ubuntu for Ethernet LAN While Preserving Wifi Internet Access

2018-03-20T01:22:12Z

Ebretl3: populated real content

In 2018, both RoboRacing and IGVC are adding features to their robot which work through the Ethernet hardware. By default, Ubuntu prioritizes the ethernet interface over wifi. In situations where an internet connection is still desired (e.g. SSH connection to robot, pulling from remote changes on git repo onto the robot), Ubuntu can be easily configured to use ethernet for local network connections only.

=== Procedure: ===
# Open the connections editor from the network drop-down ("Edit Connections...") or launch <code>nm-connections-editor</code>
# Select the wired connection (the local one, which we don't want to use for Internet access) and click "Edit"
# Under IPv4 settings, change Method to "Manual"
# Enter any static IP (e.g. 10.*.*.*), set Netmask to 255.255.255.0 (or 24), and leave Gateway blank
# Select "Routes..." and enable "Use the connection only for resources on its network"
# Save progress and restart your networking stack: "Enable Networking" or <code>nmcli n off && nmcli n on</code>
You should now be able to both access the Internet and ping devices on your Ethernet LAN.

Setting Up Ubuntu for Ethernet LAN While Preserving Wifi Internet Access

2018-03-20T01:10:05Z

Ebretl3: Created page with "In 2018, both RoboRacing and IGVC are adding features to their robot which work through the ethernet hardware. By default, Ubuntu prioritizes the ethernet interface over wifi...."

In 2018, both RoboRacing and IGVC are adding features to their robot which work through the ethernet hardware. By default, Ubuntu prioritizes the ethernet interface over wifi. In situations where an internet connection is still desired (e.g. SSH connection to robot, pulling from remote changes on git repo onto the robot), Ubuntu can be easily configured to use ethernet for local network connections only.

Procedure:
1.

RoboRacing

2017-06-20T06:32:21Z

Ebretl3: /* Important Dates */

If you love RC vehicle sized autonomous race cars or are interested in learning about autonomous cars on a small scale, RoboRacing is for you! Our RoboRacing team started in 2013. The team initially competed in the [http://robotracing.wordpress.com/ International Autonomous Robot Racing Challenge] (IARRC) competition, finishing first in 2014 and [https://robotracing.wordpress.com/awards/ 2016.] Starting in 2016, RoboRacing also competes in [https://avc.sparkfun.com/ Sparkfun’s Autonomous Vehicle Competition (AVC)].

Our RoboRacing team, being involved in autonomous RC vehicle design, fabrication, and programming, puts its members at the fore front emerging technology in cars which is self driving cars. Each year and competition has proven a great opportunity for learning everything from robust mechanical design to advanced programming skills that could be applied to diverse engineering applications. 

== Meeting Times ==

Mondays  - 6:30 PM

Sundays - 4 PM

Meeting location - Love building turn-around.

== Important Dates ==

=== Sparkfun AVC ===

October 14-16, 2017

=== IARRC 2017 ===

July 14-15, 2017

== Homecoming Car Fall 2014 ==

RoboRacing is working on two projects this year. In addition to the IARRC competition, the team has built a fully-autonomous replica of the Ramblin' Wreck that paraded in the Ramblin' Wreck parade on November 1st, 2014. We worked with a College of Computing student group called The Agency on this project. We built the car from the ground up, and The Agency worked on the software to make the car autonomous. The car drove itself down the parade autonomously, creating quite a stir!

[[File:10644703 601719963291031 2139300614443510723 o.jpg|300px|10644703 601719963291031 2139300614443510723 o.jpg]]

== Important Items ==

==== Meeting Notes ====

*[[File:01-Intro.pdf|RTENOTITLE]]
*[[File:02-A-Design Principles.pdf|RTENOTITLE]]
*[[File:02-B-Software Design.pdf|RTENOTITLE]]

==== Design Documentation ====

*[[2014_IARRC_Electrical|Electrical Design]]
*[[2014_IARRC_Mechanical|Mechanical Design]]
*[[RoboRacing_Software_Design|Software Design]]

==== Software to Install ====

It's all free!

*[http://db.tt/3k5hR91 Dropbox]

;Electrical
:

*[http://www.cadsoftusa.com/download-eagle/freeware/ EAGLE]

;Mechanical
:

*[http://students.autodesk.com/?nd=download_center Autodesk Inventor Professional 2015] - You'll have to make an account.

;Software
:

==== Competition Information ====

*[http://robotracing.wordpress.com/rules/ Rules]
*[[IARRC_Equipment|Equipment]]

==== Reference ====

*[https://lists.gatech.edu/sympa/info/robojackets-iarrc IARRC Mailing List]
*[http://www.robojackets.org/?ec3_ical&cat=16 IARRC Calendar Feed]
*[http://www.robojackets.org/?feed=rss2&cat=16 IARRC RSS Feed]
*[[Resources_for_Learning|Resources for Learning]]
[[Category:IARRC]]