Omniverse is a NVIDIA product which allows for programs to cache their information quickly and reliably. It's not needed, but can save a lot on load times!

• 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 Click on the "Exchange" tab, and search for "Cache", which should return only one result. Nucleus Server should already be installing by default. Wait until both are downloaded and installed before continuing.

• Create Shaders
  Isaac uses RTX heavily in order to accurately render graphics, which takes some powerful shaders. In order to get Isaac to build the shaders, run isaac-setup inside the devcontainer in order to start compilation of shaders.
• Launch Isaac
  In order to actually start the simulation, just run the command isaac inside the devcontainer in order to start Isaac. It might take a while on first launch, but you should see the simulation window pop up eventually.
• Load the robot
  As you should be able to see, there's currently nothing in Isaac. It should be showing an empty scene with a popup window to the top left labeled "Import URDF" with a button that says "Load". If you press it, you should see the 2023 playing field appear, along with a brightly colored robot in the center!

• Start Isaac
  Inside of Isaac, you should see a bar with a play button to the left. Click on it, or press Space in order to start the simulation. If everything works correctly, you should see the robot fall to the ground and be ready for movement!
• Start the ROS2 Control Node
  In order to get the robot to move around, you're going to need to plug in a controller and start the control node, something that you can do easily by running launch isaac inside the devcontainer.

If all goes well, you'll be able to move the robot around with the joystick! See Controls for more details on how to drive the robot.

The National Instruments RoboRIO is a required computer for the FRC competitions, and as such, all of our code to physically move robot parts has to be run through it.

In order to run this simulator, you'll have to navigate to the rio/ before running the following commands.

• Installing RobotPy
  First, run pip install -r requirements.txt in order to install robotpy and the other dependencies that the simulator needs.
• Running the sim
  Once you have the dependencies installed, all you'll have to do is run python3 robot.py sim to open the RoboRIO simulator.

To read more on the simulator, check out their docs here!

If you want to actually set up the robot, check out Setting up the Robot in order to get the onboard coprocessor running.

However, for debugging purposes, sometimes its easier to bypass this.

• Running the Robot
  To run the robot code, make sure you're connected to your robots' network, and run the command launch real inside the devcontianer in order to start the robot code.

In order to debug and visualize the robot remotely, we use rviz in order to view joint poses and other ROS information published from the robot.

• Starting rviz
  Luckily, we have another quick launch in order to start a preconfigured rviz, so you can simply open a new terminal (separate from the one running launch real), and run launch rviz. This should open up a new rviz window with the robot inside. You may need to change some of the namespaces in the window, as when running the real robot, the namespace will switch to be real instead of whatever you entered in the setup script.

When it comes to driving the robot, you'll need a Driver Station, which we have two separate options to use.

• NI Driver Station
  In order to run your robot during the competition, you'll need the official National Instruments Driver Station, with all alternatives being disallowed during competitions. For this, you're going to have to have a separate computer running Windows in order to install the FRC Game Tools, which installs the Driver Station as a part of it.
• Conductor
  Despite the National Instruments driver station being the only officially supported Driver, there are some community made alternatives that you can use! We recommend using Conductor, as it's one of the most feature complete community alternatives out there, and runs fully on linux, meaning that you don't need a separate computer, and you can run everything on just one computer!

Once you have a driver station setup, you should be able to enable teleop mode with an Xbox controller connected, and the robot should move when you move the joystick! See Controls for more details on how to drive the robot.

In order to debug the robot, we built our own debugger in Python and PyQT!

Simply run launch rio-debug in order to open the debugger!

• Reading in published joint states
  The joint states that are published from the robot to your computer are represented by the slider bars and buttons. Buttons are a togglable state where the output should be one of two values, whereas the sliders are joints where the output should be one of a range of values, usually used for wheels or other motors.
  You can tell the current joint state from the robot by looking at the top slider bar, as it will reflect the actual position of the joint on the robot. For the buttons, the color of the button represents the stater of the joint, with green meaning that the state from the robot is the same as the current state from your computer, and yellow meaning that they are not the same.
  You can also tell the states of the joints based on the boxes to the left of them, which should contain the exact numbers recieved from ROS.
• Publishing out your own joint commands
  To publish out your own joint commands, simply use the bottom slider, or click on the buttons in order to edit the joint state being broadcast out to the robot!