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Helmet Overview

Helmet is the CogniPilot package distribution list, similar to rosdistro.

Folders

  • dream: This folder contains the packages lists necessary for simulation.
  • install: Used to hold the install scripts for deployment. These install scripts are also used for docker image creation.
  • navqplus: Used to hold relevant packages for the onboard computer.
  • read_only: Alternate urls for read only cloning using https instead of ssh.

Cloning Helmet

cd ~/cognipilot

Cloning with ssh keys:

git clone git@github.com:CogniPilot/helmet.git

Cloning without ssh keys:

git clone https://github.com/CogniPilot/helmet.git

Deploying using Native Install Script

Run the install script and follow the prompts.

./helmet/install/native_install.sh

Manually building the Workspace for Software-in-the-loop Simulation

Helmet relies upon the vcs tool provided with ros. After adding the APT ROS reposities, it may be install via:

sudo apt install python3-vcstool

Now we can use vcs to import the relevant git repositories for our workspace.

cd ~/cognipilot
vcs import < helmet/dream/base.yaml
vcs import < helmet/dream/b3rb.yaml