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# ExoMy - Software Repository
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This repository contains the software to run Exomy. The [wiki](https://github.com/esa-prl/ExoMy/wiki) explains you how to use it.
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# ExoMy CUNO — Software
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ExoMy Mars-Rover auf Basis eines Raspberry Pi mit ROS1 Melodic, betrieben vollständig in einem Docker-Container.
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# ExoMy Project Structure
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---
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### [Website](https://esa-prl.github.io/ExoMy/)
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There is a website about ExoMy. It does not help you build it, but is still nice to look at.
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## Zugang zum Raspberry Pi
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### [Wiki](https://github.com/esa-prl/ExoMy/wiki)
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The [wiki](https://github.com/esa-prl/ExoMy/wiki) contains step by step instructions on how the 3D-printed rover ExoMy can be built, controlled and customized.
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| | |
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|---|---|
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| **Hostname** | `cuno` |
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| **Benutzer** | `pi` |
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| **LAN-IP** | `192.168.1.83` |
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| **WLAN-IP** | `192.168.1.9` (bevorzugt) |
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| **Fallback-AP** | SSID `CUNO`, IP `192.168.50.1`, Passwort `astr0cun042` |
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### [Documentation Repository](https://github.com/esa-prl/ExoMy)
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This repository contains all the files of the documentation of ExoMy. Just click on [*Releases*](https://github.com/esa-prl/ExoMy/releases) and download the files of the latest release. They are explained further in the [wiki](https://github.com/esa-prl/ExoMy/wiki).
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```bash
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ssh pi@192.168.1.9
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```
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### Social Media
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<!-- Add icon library -->
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<link rel="stylesheet" href="https://use.fontawesome.com/releases/v5.13.1/css/all.css">
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---
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<!-- Add font awesome icons -->
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<p>
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<img src="https://github.com/esa-prl/ExoMy/wiki/images/social_media_icons/discord-brands.svg" width="20px">
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<a href="https://discord.gg/gZk62gg"> Join the Community!</a>
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</p>
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<p>
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<img src="https://github.com/esa-prl/ExoMy/wiki/images/social_media_icons/twitter-square-brands.svg" width="20px">
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<a href="https://twitter.com/exomy_rover"> @ExoMy_Rover</a>
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</p>
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<p>
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<img src="https://github.com/esa-prl/ExoMy/wiki/images/social_media_icons/instagram-square-brands.svg" width="20px">
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<a href="https://www.instagram.com/exomy_rover/"> @ExoMy_Rover</a>
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</p>
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## Architektur
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```
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Web-GUI (Port 8000)
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│ WebSocket (Port 9090)
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▼
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rosbridge_websocket ──► /joy ──► joystick_parser_node ──► /rover_command
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│
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f710_joy_node ──────────────────────────────────────────────────┘
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(Logitech F710, /dev/input/js0)
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/rover_command ──► robot_node ──► /motor_commands ──► motor_node ──► PCA9685 PWM ──► Motoren
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```
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**Software auf dem Pi:** `/home/pi/ExoMy_Software/`
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**ROS-Workspace im Container:** `/root/exomy_ws/src/exomy/`
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---
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## Systemd-Services auf dem Pi
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| Service | Beschreibung |
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|---|---|
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| `exomy-admin-api.service` | Admin-API (`exomy_admin_api.py`) |
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| `exomy-camera-stream.service` | MJPEG Kamera-Stream |
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| `exomy-wifi-fallback.service` | WLAN-Fallback auf eigenen Access Point |
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```bash
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# Status prüfen
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systemctl status exomy-admin-api.service
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```
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---
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## Docker-Container
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Der Container `exomy_autostart` (Image: `exomy`) startet automatisch beim Booten.
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```bash
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# Status
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docker ps
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# Logs
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docker logs exomy_autostart --tail=50
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# Shell im Container
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docker exec -it exomy_autostart bash
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```
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### ROS-Nodes im Container
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| Node | Beschreibung |
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|---|---|
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| `f710_joy_node.py` | Liest Logitech F710 von `/dev/input/js0`, publiziert auf `/joy` mit 20 Hz — **auch wenn der Joystick in Ruhe liegt** |
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| `joystick_parser_node.py` | Konvertiert `/joy` → `/rover_command`; priorisiert Web-GUI über physischen Controller |
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| `robot_node.py` | Berechnet Lenkwinkel und Geschwindigkeiten aus `/rover_command` |
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| `motor_node.py` | Setzt PWM-Werte über PCA9685; Watchdog stoppt Motoren nach 5 s ohne Befehl |
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| `rosbridge_websocket` | WebSocket-Bridge für die Web-GUI (Port 9090) |
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| `rosapi_node` | ROS-API für die Web-GUI |
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### Ports
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| Port | Verwendung |
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|---|---|
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| `8000` | Web-GUI |
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| `9090` | ROSBridge WebSocket |
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| `8082` | Admin-API |
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---
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## Deploy-Workflow
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Dateien lokal bearbeiten, dann auf den Pi und in den laufenden Container übertragen:
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```bash
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# Datei auf den Pi kopieren
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scp ExoMy_Software-master/src/meine_datei.py pi@192.168.1.9:/home/pi/ExoMy_Software/src/
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# In den Container kopieren
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ssh pi@192.168.1.9 "docker cp /home/pi/ExoMy_Software/src/meine_datei.py exomy_autostart:/root/exomy_ws/src/exomy/src/"
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# Container neu starten
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ssh pi@192.168.1.9 "docker restart exomy_autostart"
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```
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GUI-Dateien:
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```bash
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scp ExoMy_Software-master/gui/index.html pi@192.168.1.9:/home/pi/ExoMy_Software/gui/
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ssh pi@192.168.1.9 "docker cp /home/pi/ExoMy_Software/gui/index.html exomy_autostart:/root/exomy_ws/src/exomy/gui/"
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# Kein Neustart nötig — Browser-Reload genügt
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```
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---
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## Bekannte Probleme & Fixes
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### Web-GUI: Ruckartige Bewegung bei angeschlossenem Controller
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**Problem:** Der `f710_joy_node` sendet permanent mit 20 Hz auf `/joy`, auch wenn der Logitech F710 in Ruhe liegt (Nullwerte). Wenn die Web-GUI gleichzeitig steuert, wechseln sich Fahr- und Stopp-Befehle im 50-ms-Takt ab — der Rover bewegt sich ruckartig.
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**Fix:** `joystick_parser_node.py` ignoriert Nachrichten des physischen Controllers für 2 Sekunden, sobald eine Web-GUI-Nachricht eintrifft (erkennbar an `frame_id == "webgui"`). Danach übernimmt der physische Controller automatisch wieder.
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### SyntaxError in rover.py (Point-Turn-Modus)
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**Problem:** Überzählige schließende Klammer in `rover.py` Zeile 157 ließ `robot_node.py` beim Start abstürzen — der Rover war nicht steuerbar.
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```python
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# Falsch:
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math.atan((self.wheel_rx + self.wheel_fx) / self.wheel_ry)))
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# Richtig:
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math.atan((self.wheel_rx + self.wheel_fx) / self.wheel_ry))
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```
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---
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## Fahrmodi
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| Modus | Taste (Controller) | Taste (Web-GUI) |
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| Ackermann | A | Schaltfläche „Ackermann" |
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| Point Turn (Drehen auf der Stelle) | X | Schaltfläche „Turn on Point" |
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| Crab (Seitwärtsfahrt) | Y | Schaltfläche „Crab" |
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| Motoren ein/aus | START | Schaltfläche „Motoren" |
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---
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## Originales ESA-Projekt
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- [Wiki](https://github.com/esa-prl/ExoMy/wiki) — Bauanleitung und Dokumentation
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- [Website](https://esa-prl.github.io/ExoMy/)
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- [Dokumentations-Repository](https://github.com/esa-prl/ExoMy)
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