Just Robotics Bot ROS Workspace

This is the workspace of our awesome project!

Getting started

The documentation for managing the workspace is split into various READMEs, please read the correct file using the (relative) links below.

File	Purpose
Setup Scripts	Instructions and shell scripts to help quickly launch the workspace without dependence on Devcontainers.
Containerization Source Code [hosted externally]	Source code for the Dockerfiles for to building the containers used by this project.

How to run Keyboard Teleop

1. Make sure you have the workspace set up and running. You can follow the instructions in the Setup Scripts to get started.

2. Build the workspace if not done already.

   wsb

3. Launch the core robot's ROS nodes.

   ros2 launch jr_bot_system system.launch.py

4. In a new terminal, launch the keyboard teleop node.

   ros2 launch jr_bot_system teleop_keyboard.launch.py 

How to change the device port.

1. Find out the port your robot is connected to and make sure that you have the correct permissions to access it. See the USB Guide.

2. Open jr_bot.ros2_control.xacro and edit the port:

   <xacro:macro name="jr_bot_ros2_control" params="device_addr:='/dev/ttyACM0'">

3. Open jr_bot.xacro and edit the port:

   <xacro:jr_bot_ros2_control device_addr="/dev/ttyACM0" />

4. Launch the robot's core nodes.

Acknowledgements

The Devcontainer system of this project was inspired by the Wheelchair project at RRC, IIIT Hyderabad. Please see their project DockerForDevelopment.