Working With Jaia Software

Table of Contents:

• Launching The Simulator
• Modifying Code
• Deploying Code

Launching the Simulator

Note: The Jaia simulator works with Ubuntu 20.04 and 22.04

1. Clone the jaiabot repo (https://github.com/jaiarobotics/jaiabot)

   (install git if needed)
   sudo apt install git
   git clone https://github.com/jaiarobotics/jaiabot

2. Run the setup scripts

   cd /path/to/jaiabot/scripts
   ./setup-tools-build.sh
   ./setup-tools-runtime.sh

3. Run the build script

   cd /path/to/jaiabot
   ./build.sh

4. Launch the JCC web interface

   cd /path/to/jaiabot/src/web
   ./run.sh

5. Launch the simulator in a separate terminal

   cd /path/to/jaiabot/config/launch/simulation
   # Set the simulation to run 4 bots at a time warp of 5
   ./generate_all_launch.sh 4 5
   ./all.launch

6. Troubleshooting the simulator

• Kill all processes

  # Kill all processes, then relaunch the simulator
  cd /path/to/jaiabot/scripts
  ./kill-jaiabot-processes.sh

• Refresh the build directory

# Remove the build directory
cd /path/to/jaiabot
rm -rf build
 
# Re-create the build directory
./build.sh

Modifying Code

1. Launch the simulator
2. Modify the code as you see fit
3. Shutdown the simulator and JCC web interface

   # Shutdown the simulator
   cd /path/to/jaiabot/config/launch/simulation
   Ctrl+C
    
   # Shutdown the server
   cd /path/to/jaiabot/src/web
   Ctrl+C

4. Repeat Steps 3 - 5 of launching the simulator
5. With the new code tested, it can be deployed to your Jaia System or submitted for review by creating a pull request

Deploying Code

1. Modify the codebase
2. Connect to a hub router
   • Select the SSID JAIA-HUB-WIFI-X from Wi-Fi list (X indicates fleet number)
3. Create Docker image

   cd ~/jaiabot/scripts
   ./docker-build-build-system.sh

4. Stop the jaiabot services for the system you are deploying to

   ssh -i /path/to/key jaia@10.23.X.Y (X indicates fleet number and Y indicates bot number plus 100 or hub number plus 10)
   sudo systemctl stop jaiabot

5. Deploy

   cd ~/jaiabot/scripts
   # BOT
   jaiabot_arduino_type=usb jaiabot_systemd_type=bot ./docker-arm64-build-and-deploy.sh jaia@10.23.X.Y (X indicates fleet number and Y indicates bot number plus 100)
   # HUB
   jaiabot_systemd_type=hub ./docker-arm64-build-and-deploy.sh jaia@10.23.X.Y (X indicates fleet number and Y indicates hub number plus 10)

6. Start jaiabot services

   ssh -i /path/to/key jaia@10.23.X.Y (X indicates fleet number and Y indicates bot number plus 100 or hub number plus 10)
   sudo systemctl start jaiabot (takes about 1 min to start)

Debugging

• Make sure if you are upgrading that you do the entire fleet or stop the services on the systems you are not using
• This will limit any unexpected issues as mismatched dccl packets cannot be interpreted
• If you get errors during this upgrade process please contact your Jaia representative