Robotino Startup Guide
======================

.. image:: _static/images/robotino.jpg
   :alt: Robotino Robot
   :width: 60%
   :align: center

GNU Grub Interface
------------------

This PC has both 22.04 and the older 16.04 installed together. On startup, you will 
only see the option to boot into 16.04 labelled ``Ubuntu 16.04 on sda1``. To boot 
into 22.04, just pick the first option labelled simply as **Ubuntu** on the startup menu.

.. note::

   By default the user is set as robotino. Uninspiringly, the password is also ``robotino``.

bash_rc (Ctrl+H to view in home directory)
-------------------------------------------

I added a few convenience functions in the secret bash folder that will help with
initially sourcing ROS and running ROS related operations. ``bashrc`` is where the
terminal is configured and if you would like to add your own commands, feel free to.
It will not modify the system directly and if you did something that broke the terminal,
just revert the changes.

.. note::

   If you lost the file or wish to recover it to its original state, a backup can be found in https://github.com/yeezhen-robotics/Robotino-ROS_WS-Remote/tree/main/config

Below is a summary of every custom convenience function added to ``bashrc``:

.. list-table::
   :header-rows: 1
   :widths: 26 16 28 29

   * - Function Name
     - Software Req.
     - Usage Description
     - Example
   * - ``updt``
     - System
     - Runs ``apt-get update`` and ``apt-get upgrade`` together in one command.
     - ``updt``
   * - ``ta``
     - Tmux
     - Attaches to an existing tmux session by name.
     - ``ta my_session``
   * - ``tls``
     - Tmux
     - Lists all currently active tmux sessions.
     - ``tls``
   * - ``tmake``
     - Tmux
     - Creates a new tmux session with a given name.
     - ``tmake my_session``
   * - ``talker_listener_example``
     - Tmux / ROS
     - Navigates to the talker-publisher example directory and runs its tmux launch script.
     - ``talker_listener_example``
   * - ``runrosbagoval``
     - ROS
     - Plays back the pre-recorded ROS2 bag file for the oval simulation.
     - ``runrosbagoval``
   * - ``runrosbagtrackdrive``
     - ROS
     - Plays back the pre-recorded ROS2 bag file for the track drive simulation.
     - ``runrosbagtrackdrive``
   * - ``recordros2bag``
     - ROS
     - Sources the ROS2 workspace and records all active topics into a named bag file.
     - ``recordros2bag my_recording``
   * - ``tlls``
     - Tmux
     - Lists all available tmux launch file directories in the workspace.
     - ``tlls``
   * - ``rosbagls``
     - ROS
     - Lists all saved ROS2 bag files in the rosbags directory.
     - ``rosbagls``
   * - ``tmuxlaunch``
     - Tmux / ROS
     - Navigates into a named tmux launch file directory and runs its launch script.
     - ``tmuxlaunch my_launch_dir``
   * - ``srcros2``
     - ROS
     - Sources the ROS2 workspace ``install/setup.bash`` for the current terminal session.
     - ``srcros2``

ROS1 (Noetic)
-------------
For Ubuntu 22.04, ROS1 is no longer supported, therefore you would need to build from source. The method below is recommended but a different method can be used too.

- **Repository:** `ROS1 22.04 Docker Image <https://github.com/Akvarion/ros-noetic-full-22.04>`_
- **Setup Guide:** `Medium article by Lukas <https://medium.com/@lukas_reisinger/building-ros-noetic-on-ubuntu-22-04-b3ca676c63e7>`_

Sourcing ROS1 (Noetic):

.. code-block:: bash

   source ~/ros_catkin_ws/install_isolated/setup.bash


ROS2 (Humble)
-------------
For the official installation guide, refer to the `ROS2 Humble installation documentation <https://docs.ros.org/en/humble/Installation.html>`_.

Sourcing ROS2 (Jammy):

.. code-block:: bash

   source /opt/ros/humble/setup.bash