rift2024

2024 FRC Robot

Requirements

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• RTX Enabled GPU

Workstation Setup steps

1. Install Graphics Drivers

Install Nvidia Drivers
sudo apt-get install nvidia-driver-525 then restart your machine

2. Local Setup

• Install Docker and Nvidia Docker
  ./scripts/local-setup.sh then restart your machine

• Install Remote Development VS Code Extension
  Go to extensions and search for Remote Development and click install

• Reopen in Devcontainer
  Hit F1 and run the command Reopen in Container and wait for the post install to finsih.

3. Isaac Container Setup

• Create Shaders
  This uses a lot of cpu resource and can take up to 20min
  isaac-setup

• Launch Isaac
  isaac

4. Build ROS2 Packages

• Build the packages
  Shortcut: ctrl + shift + b
  or
  Terminal: colcon build --symlink-install

• Done with Building ROS2 Packagess

5. (Optional) Omniverse Setup

• Download Omniverse Launcher
  https://www.nvidia.com/en-us/omniverse/download/

• Run Omniverse
  chmod +x omniverse-launcher-linux.AppImage
./omniverse-launcher-linux.AppImage

• Install Cache and Nucleus Server
  Wait until both are downloaded and installed.

• DONE with Omniverse Setup

Running Rift

Inside of Isaac

1. Connect an xbox controller
2. Open Isaac
3. Open Isaac and hit load on the Import URDF extension window
4. Press Play on the left hand side
5. Run pysim inside a new devcontainer terminal (this is the simulated driverstation window)
6. Run launch isaac_pysim inside a new devcontainer terminal
7. Run auton/teleop by enabling in the simulated driverstation window

In real life

1. Connect an xbox controller
2. Launch FRC Driverstation
3. Launch WPILib Shuffleboard
4. Select auton/teleop
5. Press Enable