Getting Started
===============

.. include:: /../shared/_snippets/nova_carter/getting_started.rst

.. _nova-carter-dev-setup:

Prerequisites
-------------

If you consider using `Nova Carter` only through the pre-built docker image,
continue to Visualization Setup. Otherwise, you should complete Isaac ROS Development Environment,
repositories, and visualization setup before proceeding to run the applications.

Isaac ROS Development Environment Setup (Optional)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

.. include:: /_snippets/set_up_dev_env.rst

.. note::

    Ensure you have set up the SSD and migrated the Docker directory to SSD.
    Instructions can be found :ref:`here <robots/nova_carter/getting_started:Docker Configuration>`.

.. note::

    We recommend that you connect the `Nova Carter` through Ethernet in this step.
    Building a Docker image for the development environment takes longer time in the first time
    you run it. Expect faster spin-up of the development environment after the first cached build.

Repositories Setup (Optional)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

.. conditional_render:: internal

  .. note::

    In order to clone private repositories from the dev container you will need a valid SSH key and
    a running SSH agent. To enable the SSH agent run the following on your personal computer:

    .. code:: bash

      eval "$(ssh-agent -s)"
      ssh-add ~/.ssh/id_ed25519

    When SSHing to the robot make sure to forward your SSH Agent with the ``-A`` flag in ``ssh``,
    i.e. ``ssh -A <robot_ip>``.

    You can check that the SSH agent is running with your SSH key by running ``ssh-add -l`` (can be
    run on the personal computer, on the robot and inside of the dev container).

1. Clone ``nova_carter`` repository under ``${ISAAC_ROS_WS}/src``:

   .. code:: bash

      cd ${ISAAC_ROS_WS}/src && \
        git clone --recursive :ir_clone:`<nova_carter>`

2. Create a file called ``.isaac_ros_common-config`` with the following context:

   .. code:: bash

      cd ${ISAAC_ROS_WS}/src/isaac_ros_common/scripts
      echo -e "CONFIG_IMAGE_KEY=ros2_humble.nova_carter\nCONFIG_DOCKER_SEARCH_DIRS=(../../nova_carter/docker ../docker)" > .isaac_ros_common-config

3. Create a file called ``.isaac_ros_dev-dockerargs`` with the following
   context:

   .. code:: bash

      cd ${ISAAC_ROS_WS}/src/isaac_ros_common/scripts && \
        echo -e "-v /etc/nova/:/etc/nova/\n-v /opt/nvidia/nova/:/opt/nvidia/nova/\n-v /mnt/nova_ssd/recordings:/mnt/nova_ssd/recordings" > .isaac_ros_dev-dockerargs

4. Launch the Docker container using the ``run_dev.sh`` script:

   .. code:: bash

      cd ${ISAAC_ROS_WS}/src/isaac_ros_common && \
        ./scripts/run_dev.sh

5. Clone the dependency repositories using the ``vcstool`` file in the ``nova_carter`` repository:

   .. code:: bash

      cd /workspaces/isaac_ros-dev
      vcs import --recursive --workers 1 --delay 5.0 src < src/nova_carter/nova_carter.repos

.. _visualization-setup-carter:

Visualization Setup
~~~~~~~~~~~~~~~~~~~

To visualize and evaluate outputs from running applications, you should
follow these steps on your remote machine.

1. Complete the :ref:`Foxglove setup <foxglove-setup>` guide. Make sure to
   follow the instructions of
   :ref:`installing additional Nvblox Foxglove extension <nvblox-foxglove-ext>`.

2. Download all Foxglove layout configurations available in
   :ir_repo:`nova_carter repository <nova_carter> <nova_carter_bringup/foxglove_layouts>`.