GroundsBot Software

Grudsby's Brains

Installation

Prerequisites

ROS:

Grudsby uses ROS Kinetic, on Ubuntu 16.04.

If using Anaconda:

comment out the path anaconda PATH setting in ~/.bashrc

#export PATH="/home/"user"/"anaconda version"/bin:$PATH"

Arduino

Install the Arduino IDE from the Arduino site. Do not install with apt-get.

Necessary Packages:

• rosserial

sudo apt-get install ros-kinetic-rosserial-arduino
sudo apt-get install ros-kinetic-rosserial

-rospack

sudo apt-get install ros-kinetic-rospack

-rospy

sudo apt-get install ros-kinetic-rospy

-ros teleop-twist-keyboard

sudo apt-get install ros-kinetic-teleop-twist-keyboard

-uuid-msgs

sudo apt-get install ros-kinetic-uuid-msgs

-i2c tools

sudo apt-get install libi2c-dev i2c-tools

-tf2 geometry msgs

sudo apt-get install ros-kinetic-tf2-geometry-msgs 

-unique identifier

sudo apt-get install ros-kinetic-unique-identifier 

-common messages

sudo apt-get install ros-kinetic-common-msgs 

-geographic info

sudo apt-get install ros-kinetic-geographic-info 

-unique-id

sudo apt-get install ros-kinetic-unique-id

-hector-gazebo-plugins

sudo apt-get install ros-kinetic-hector-gazebo-plugins 

-grudsby_sweeping package

sudo apt install libcurl4-openssl-dev

-grudsby_navStack package

sudo apt install ros-kinetic-move-base
sudo apt-get install ros-kinetic-dwa-local-planner
sudo apt-get instlal ros-kinetic-laser-geometry

-catkin_pkg

pip install catkin_pkg

-rospkg

pip install rospkg

-SBUS and elapsedMillis

Move these from the Libraries folder to your Arduino/libraries folder

Possible Build Errors:

Camera1394stereo has a build order issue. If it doesn't build due to a missing .msg module, build the driver_base package first.

catkin_make --pkg driver_base

Symlinking Gazebo Models:

The Gazebo models must be symlinked into the default ~/.gazebo/models folder for gazebo to find them.

Given that the Groundsbot-Software folder is ~/Groundsbot-Software:

ln -s -d ~/Groundsbot-Software/src/grudsby_gazebo/models/grudsby_new/ ~/.gazebo/models/grudsby_new/
ln -s -d ~/Groundsbot-Software/src/grudsby_gazebo/models/grudsby_caster/ ~/.gazebo/models/grudsby_caster/
ln -s -d ~/Groundsbot-Software/src/grudsby_gazebo/models/grudsby_imu/ ~/.gazebo/models/grudsby_imu/
ln -s -d ~/Groundsbot-Software/src/grudsby_gazebo/models/grudsby_gps/ ~/.gazebo/models/grudsby_gps/
ln -s -d ~/Groundsbot-Software/src/grudsby_gazebo/models/grass/ ~/.gazebo/models/grass/

Configuring Rosserial:

The custom Ros-lib Arduino package has been included in the Libraries folder. Copy this library over to your Arduino/libraries folder.

If needed: Making custom headers for rosserial-arduino:

Source the sourceme file in Grudsby-Software

then:

 rm -rf ~/Arduino/libraries/ros_lib/
 rosrun rosserial_arduino make_libraries.py ~/Arduino/libraries/

Style

Use the .clang_format file to reformat code.

Packages must be run through clang-tidy:

• Install clang packages:

sudo apt-get install clang libclang-dev clang-tidy-3.8 clang-format-3.8

• Add set(CMAKE_EXPORT_COMPILE_COMMANDS ON) to every package's CMakeLists.txt and re-run catkin_make

• Check code with

 run-clang-tidy-3.8.py -p ~/Groundsbot-Software/build grudsby_package 

• You can try the autofixer, but be sure to check it after

 run-clang-tidy-3.8.py -p ~/Groundsbot-Software/build grudsby_package -fix