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LSTS / dune

DUNE: Unified Navigation Environment
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Dune runs on beaglebone black. #223

Open gslkr opened 3 years ago

gslkr commented 3 years ago

Hi, I want to run Dune on the beaglebone black. And my beaglebone black have the Debian 10.3 system. if Debian support the operation of Dune?

Another question, I have build the Dune on my beaglebone black. And without any external hardware equipment, run a vehicle simulation. After that, the screen displays the following error:

dune

Does this mean that dune can be used normally in the future? Thanks.

josebraga commented 2 years ago

It's been too long, but might as well leave the answer now :sweat:

Yes!

Each task (e.g. Monitors.Entities, Plan.Engine, Transports.Logging etc) is a piece of logic which is somewhat independent of the rest of the tasks. Then they interact through IMC messages -- their consumption and distribution can be discerned in the task itself.

Well, Supervisors.Vehicle sits at the top, and controls whether the system is good to go or not. In does so by inspecting the state of Monitors.Entities which is a task that consumes the states of other tasks. Depending on how vital a given task is, it will signal an error or not -- for instance, if this DUNE is running on a moving robot, then it is general good idea to have a sense of localization (or Navigation) -- it may be irrelevant if Sensor X is faulty for instance.

Although some tasks maybe be ERR'ing out , the "vehicle is ready" to go :grinning: