clearpathrobotics · tonybaltovski · Jan 18, 2024 · Nov 8, 2023 · Nov 21, 2023 · Dec 20, 2023
@@ -1084,7 +1084,7 @@ string data
 clearpath_mission_scheduler_msgs/StorageState state
 ```
 
-#### clearpath_mission_scheduler_msgs/srv/UpdateSchedule.srv {scheduler-updateschedule}
+#### clearpath_mission_scheduler_msgs/srv/UpdateSchedule.srv {#scheduler-updateschedule}
 
 ```
 # The ID of the mission to edit

@@ -53,7 +53,9 @@ sections, whose details are provided below:
         by OutdoorNav Software, for use by the client to modify/control
         the behaviour of the Autonomy.
 -   [Mission Manager API](api_endpoints/mission_manager_api.mdx): The set of [ROS
-    Services](http://wiki.ros.org/Services) that are used for creating, deleting, and modifying OutdoorNav missions
+    Services](http://wiki.ros.org/Services) that are used for creating, deleting, and modifying OutdoorNav Missions
+-   [Mission Scheduler API](api_endpoints/mission_scheduler_api.mdx):  The set of [ROS Services](http://wiki.ros.org/Services)
+    that are used for creating, deleting, and modifying OutdoorNav Mission Schedules
 -   [Definitions](api_endpoints/definitions.mdx): The set of custom
     [ROS Message](http://wiki.ros.org/Messages), [ROS
     Service](http://wiki.ros.org/Services), and [ROS

@@ -269,7 +269,14 @@ then proceed to the respective issue listed in
 
 #### Initialize Parameters {#initialize_parameters}
 
-1. Update the footprint offsets of the UGV in the `${HOME}/cpr_outdoornav_launch/outdoornav_tuning.env` file.
+1. Update the footprint offsets of the UGV in the `/opt/onav/<onav_version>/config/autonomy.env` file, where *onav_version*
+is the version of OutdoorNav that you are currently running.
+
+:::note
+
+This above file path is only valid for versions after and including version 0.11.0.
+
+:::note
 
 <center>
   <figure>
@@ -386,10 +393,11 @@ The following parameters should then be modified to the desired velocity ($v_{de
 Finally, if you are increasing the velocity to a value greater than or equal to 4.0 m/s or if you
 are seeing that the velocity is being limited even after changing the above parameters, 
 it is possible to try and increase the size (width and height) of the local costmap in file:
-`~/cpr_outdoornav_launch/onav_robots/params/platform/navigation/costmap_local.yaml`.
-The limit in the velcoity is due to the fact that the lookahead distance at higher speeds ends 
-up exceeding the size of the local costmap. By increasing it, we allow the controller to 
-lookahead further and allow for that velocity increase.
+`/opt/onav/<onav_version>/app/autonomy/params/platform/navigation/costmap_local.yaml`, 
+where *onav_version* is the currently running version of OutdoorNav. The limit in the velocity
+is due to the fact that the lookahead distance at higher speeds ends up exceeding the size of 
+the local costmap. By increasing it, we allow the controller to lookahead further and allow for 
+that velocity increase.
 
 #### Tune Goal State {#tune_goal_state}
 

@@ -10,7 +10,7 @@ toc_max_heading_level: 3
 
 | Parameter | Description | File | Default |
 |-----------|-------------|------|---------|
-| `ENABLE_COLLISION_AVOIDANCE` | Flag to enable/disable collision avoidance | ~/cpr_outdoornav_launch/outdoornav_tuning.env | false |
+| `ENABLE_COLLISION_AVOIDANCE` | Flag to enable/disable collision avoidance | `/opt/onav/<onav_version>/config/autonomy.env` | false |
 
 
 ## Costmap {#costmap_params}
@@ -20,7 +20,7 @@ toc_max_heading_level: 3
 The parameters related to the costmap, can be found here:
 
 ``` bash
-~/cpr_outdoornav_launch/onav_robots/params/<platform_type>/navigation/costmap_<global/local>.yaml
+/opt/onav/<onav_version>/app/autonomy/params/<platform_type>/navigation/costmap_<global/local>.yaml
 ```
 
 If they are not listed in the above file, it is because they are using the default values and are not being overwritten.

@@ -15,7 +15,9 @@ import versions from "@site/static/versions.js"
 The parameters related to the controller, can be found here:
 
 ``` bash
-~/cpr_outdoornav_launch/onav_robots/params/<platform_type>/navigation/controls_general.yaml
+/opt/onav/<onav_version>/app/autonomy/params/<platform_type>/navigation/controls_general.yaml
+/opt/onav/<onav_version>/app/autonomy/params/<platform_type>/navigation/mpc_controller.yaml
+/opt/onav/<onav_version>/app/autonomy/params/<platform_type>/navigation/mpc_dock_controller.yaml
 ```
 
 If they are not listed in the above file, it is because they are using the default values and are not being overwritten.

@@ -53,8 +53,8 @@ toc_max_heading_level: 4
 
 5.  **Where do all the video/audio/images get saved from the mission tasks?**
 
-    All of the data that gets saved (ROSbags, video recordings, audio recordings, and saved images) get stored on
-    UGV's computer at the following location: `~/clearpath_files/...`
+    All of the data that gets saved (ROSbags, video recordings, audio recordings, and saved images) gets stored on
+    UGV's computer at the following location: `/opt/onav/saved_files/...`
 
 ## Autonomy
 

@@ -52,7 +52,8 @@ The following table lists the sensors that are useable with the
 OutdoorNav software. The sensor drivers can be turned on/off using
 these environment variables, however, the sensor will always remain
 powered on. The environment variables, should be added to the
-`~/cpr_outdoornav_launch/env/sensors_customization.env` file.
+`/opt/onav/<onav_version>/config/sensors.env` file, where *onav_version*
+is the currently running version of OutdoorNav.
 
 | Environment Variable           | Description                               | Data Type
 |--------------------------------|-------------------------------------------|--------------
@@ -179,7 +180,8 @@ Eg. Realsense [`DepthImage`](http://docs.ros.org/en/noetic/api/sensor_msgs/html/
 
 The following section provides a list of environment variables that can
 be modified in order to tune OutdoorNav. All of the environment variables listed below
-can be modified in the `~/cpr_outdoornav_launch/env/autonomy_customization.env` file.
+can be modified in the `/opt/onav/<onav_version>/config/autonomy.env` file, where *onav_version*
+is the currently running version of OutdoorNav.
 
 ### Costmap Inputs
 
@@ -278,12 +280,12 @@ detection bounds for the Starter Sensor Kit have yet to be determined.
 
 1) Apply either a radial filter or a statistical outlier filter on the pointcloud data to filter out the stray detections.
 
-- File: `~/cpr_outdoornav_launch/env/sensors_customization.env`
+- File: `/opt/onav/<onav_version>/config/sensors.env`
 - Environment variable(s): `<sensor_type>_ENABLE_FILTER_RADIUS_OUTLIER`, `<sensor_type>_ENABLE_FILTER_STATISTICAL_OUTLIER` 
 
 2) Increase the pointcloud to laserscan conversion filter minimum height parameter. The environment variable 
 
-- File: `~/cpr_outdoornav_launch/env/sensors_customization.env`
+- File: `/opt/onav/<onav_version>/config/sensors.env`
 - Environment variable(s): `PCL_TO_SCAN_MIN_HEIGHT`
 
 #### Pitch changes
@@ -301,7 +303,7 @@ the range at which the 2D LiDAR will generate obstacles since the 3D LiDAR will
 of the detections. You would be able to reduce the range that the 2D LiDAR generates obstacles,
 so that it does not overlap with the detection field of the 3D LiDAR.
 
-- File: `~/cpr_outdoornav_launch/env/autonomy_customization.env`
+- File: `/opt/onav/<onav_version>/config/autonomy.env`
 - Environment variable(s): `COSTMAP_LIDAR_2D_OBSTACLE_RANGE` and/or `COSTMAP_REAR_LIDAR_2D_OBSTACLE_RANGE`
 
 #### Branches across narrow path
@@ -314,7 +316,7 @@ the navigation may not be able to maneuver through them.
 **Mitigating Solution**: Reduction of the global costmap `inflation_radius` and/or `costmap_scaling_factor`
 parameters may provide sufficient space for the navigation to replan though the branches.
 
-- File: `~/cpr_outdoornav_launch/env/onav_robots/params/<platform>/navigation/costmap_global.yaml`
+- File: `/opt/onav/<onav_version>/app/autonomy/params/<platform>/navigation/costmap_global.yaml`
 - Environment variable(s): `/navigation/global_costmap/inflation/inflation_radius` and/or `/navigation/global_costmap/inflation/cost_scaling_factor`
 
 :::info

@@ -6,7 +6,10 @@ toc_min_heading_level: 2
 toc_max_heading_level: 4
 ---
 
-Users can create their custom tasks for their application following a specific template. When creating these tasks, the user should begin by creating a python file in the **~/cpr_outdoornav_launch/custom_tasks** directory. The file should be written following
+Users can create their custom tasks for their application following a specific template. 
+When creating these tasks, the user should begin by creating a python file in the 
+**/opt/onav/<onav_version>/app/custom_tasks/** directory, where *onav_version*
+is the currently running version of OutdoorNav. The file should be written following
 the instructions provided below:
 
 1. Import the `custom_task_base` package.

@@ -23,10 +23,10 @@ The OutdoorNav Software contains a set of features that can be enabled
 or disabled according to your required application requirements. These
 features can be enabled or disabled through the use of environment
 variables, which should be added to the
-`~/cpr_outdoornav_launch/env/autonomy_customization.env` file. The
-following table describes the available features, their default state
-and any additional parameters that we expose that may also be included
-to tune the feature.
+`/opt/onav/<onav_version>/config/autonomy.env` file, where *onav_version*
+is the currently running version of OutdoorNav. The following table describes
+the available features, their default state and any additional parameters 
+that we expose that may also be included to tune the feature.
 
 | Feature     | Description                                            |
 |-----------------------------|----------------------------------------|

@@ -31,4 +31,4 @@ following topics (or all the topics in the namespace if followed by a
 
 To stop the recording navigate to the Settings drop down and select
 **Stop rosbag recording**. This will save the rosbag with the date and
-time as its file name in the `~/clearpath_files/rosbag_data` folder.
+time as its file name in the `/opt/onav/saved_files/rosbags/` directory.
@@ -57,7 +57,10 @@ Follow the steps below to connect to the Web UI.
 
 The above steps will open the Web UI, which will allow the user to
 operate the UGV in Manual Mode (teleoperation) or in Autonomous Mode
-(missions).
+(missions). Upon startup the user will be presented with a page that 
+shows the End-User License Agreement. This page will be visible each 
+time the UGV is restarted but only on the first navigation to the page.
+The EULA should be reviewed prior to using the system.
 
 ## Loading Map Tiles {#loading_map_tiles}
 

@@ -13,66 +13,24 @@ Prior to installing the OutdoorNav software, ensure that you have completed the
 
 All the following instructions, unless otherwise specified, are to be run on the OutdoorNav computer.
 
-### Clone OutdoorNav Repository {#clone-install-repo}
-
-The following repository is required to run the instructions in the subsequent sections.
+### Install Command-line Interface Tool (CLI) {#install-cli}
 
 <code>
 {`
-cd ~/
-git clone -b ${versions.outdoornav} https://gitlab.clearpathrobotics.com/cpr-outdoornav/cpr_outdoornav_launch.git
+sudo apt update
+sudo apt install python3-onav-cli
 `}
 </code>
 
-For remote installations, please contact Clearpath Robotics customer support in order to obtain the relevant information required to proceed.
-
-### Install Docker {#install-docker}
-
-``` bash
-cd ~/cpr_outdoornav_launch/scripts/
-./install_docker.sh
-```
-
-### Configure OutdoorNav Sensors {#configure-outdoornav-sensors}
-
-Prior to configuring the sensors, ensure that you have measured the position (XYZ) and orientation (RPY) of each of your sensors with respect to the `base_link`. See your results from the [Integration Requirements](hardware_integration_requirements/hardware_integration_requirements.mdx).
-
-``` bash
-cd ~/cpr_outdoornav_launch/scripts/
-./configure_outdoornav.sh
-```
-
-### Finalize Setup {#final-setup}
-
-The script in the sections below will reboot the computer it is run on.
-
-##### UGV Computer
-
-For installations of the OutdoorNav software on the UGV computer (not a secondary or Starter Kit computer), run the following:
-
-``` bash
-cd ~/cpr_outdoornav_launch/scripts/
-sudo ./setup_computers.sh
-```
-##### Secondary or Starter Kit Computer
-
-Prior to running the script on the secondary or Starter Kit computer, ensure that you have the user and IP of the UGV computer that the secondary/starter kit computer is connected to. Run the following:
-
-``` bash
-cd ~/cpr_outdoornav_launch/scripts/
-sudo ./setup_computers.sh -b
-```
-
-### Install OutdoorNav Software {#install-outdoornav}
+### Install OutdoorNav
 
-``` bash
-cd ~/cpr_outdoornav_launch/
-docker compose --profile outdoornav pull
-```
+<code>
+{`
+onav install -k <license_key>
+`}
+</code>
 
-:::note
-If you are installing the OutdoorNav software on a secondary or Starter Kit computer, you must also complete the [UGV Computer Checklist](platform_computer_checklist.mdx)
-:::
+where `license_key` is the license key that you have been assigned. Only one license key can be used per UGV.
 
 ### Configure UGV Footprint {#configure-platform-footprint}
 
@@ -86,8 +44,8 @@ If the UGV has sensors and/or parts that protrude outside of the UGV body, then
 Change the environment variables from the Table below, in the following file:
 
 ```
-cd ~/cpr_outdoornav_launch
-nano outdoornav_tuning.env
+cd /opt/onav/<version>/config
+nano autonomy.env
 ```
 
 | Environment Variable        | Description                            | Default |
@@ -98,22 +56,27 @@ nano outdoornav_tuning.env
 | **FOOTPRINT_OFFSET_NEG_Y**  | Distance from base_link to the furthest edge of any part/sensor at the right of the robot | -0.35 |
 
 
+### Start/Stop the OutdoorNav
 
-### Start OutdoorNav
+To start up the OutdoorNav software run:
 
-For standard CPR UGVs (ie. not including Husky Observer), run the following to start OutdoorNav:
+<code>
+{`
+onav start
+`}
+</code>
 
-``` bash
-cd ~/cpr_outdoornav_launch/    # directory with docker-compose.yaml
-docker compose --profile outdoornav up -d --build
-```
+If you wish to start individual profiles or services, run `onav start -h` to see available profiles/services.
 
-For Husky Observers, run the following to start OutdoorNav:
+To stop the OutdoorNav software run:
 
-``` bash
-cd ~/cpr_outdoornav_launch/    # directory with docker-compose.yaml
-docker compose --profile outdoornav --profile power up -d --build
-```
+<code>
+{`
+onav stop
+`}
+</code>
+
+For more information and available ONAV CLI commands, see the [Terminal Interface](../getting_started/terminal_interface.mdx) section.
 
 ### Test OutdoorNav Installation
 
@@ -129,7 +92,6 @@ rostopic echo -n 1 /localization/odom
 
 # GNSS units
 rostopic echo /sensors/gps_<sensor_num>/fix
-rostopic echo /sensors/gps_<sensor_num>/vel
 
 # IMU (if included)
 rostopic echo -n 1 /sensors/imu_<sensor_num>/data
@@ -139,14 +101,14 @@ rostopic echo /sensors/lidar_<sensor_num>/pointcloud
 rostopic echo /sensors/lidar_<sensor_num>/scan
 
 # Realsense D435 Front (if included)
-rostopic echo -n 1 /sensors/stereo_0/pointcloud
-rostopic echo -n 1 /sensors/stereo_0/image
-rostopic echo -n 1 /sensors/stereo_0/depth/image_rect_raw
+rostopic echo -n 1 /sensors/stereo_0/pointcloud --noarr
+rostopic echo -n 1 /sensors/stereo_0/image --noarr
+rostopic echo -n 1 /sensors/stereo_0/depth/image_rect_raw --noarr
 
 # Realsense D435 Rear (if included)
-rostopic echo -n 1 /sensors/stereo_1/pointcloud
-rostopic echo -n 1 /sensors/stereo_1/image
-rostopic echo -n 1 /sensors/stereo_1/depth/image_rect_raw
+rostopic echo -n 1 /sensors/stereo_1/pointcloud --noarr
+rostopic echo -n 1 /sensors/stereo_1/image --noarr
+rostopic echo -n 1 /sensors/stereo_1/depth/image_rect_raw --noarr
 ```
 
 <sensor_num> will be the number of the sensor as it was loaded into the software. Eg. If you have a VLP and an LMS1XX, then the VLP will be lidar_0, and the LMS1XX will be lidar_1. If we only have an LMS1XX, then it would be lidar_0. Ie. the 3D lidars have a higher "priority" and therefore will be loaded first.

@@ -6,6 +6,32 @@ toc_min_heading_level: 2
 toc_max_heading_level: 4
 ---
 
+## 0.11.0
+
+### New Features
+
+-   Command Line Tool used to install/update/manage OutdoorNav
+-   Added the End User License Agreement to the UI upon start up
+-   Light and PTZ Pan/Tilt controls can now be mapped to a controller
+-   OutdoorNav/IndoorNav switch over improvements
+-   Can now place waypoints at UGV location via shortcut key (Shift + X)
+
+### API Features
+
+-   Can now delete multiple mission objects (missions, waypoints, tasks) in single call
+-   Stack Light can now be manually overridden/muted
+-   Added ability to import single missions to the robot
+
+### Bug Fixes
+
+-   1688: Move PTZ task only ever uses the first PTZ camera's positions
+-   2011: Filter false "Move PTZ Failure" notifications when moving PTZ camera
+
+### Known Issues
+
+-   1396: Robot gets temporarily stuck at start of mission when near a Waypoint
+-   1844: [MPC] Maximum acceleration param doesn't appear to have any effect
+
 ## 0.10.0
 
 ### New Features