ROS Implementation of Main Rover Software

Install and Run:

# create dir and clone repo
$ mkdir robotics_ws
$ cd robotics_ws
$ git clone https://github.com/roboticsatiowa/UIRobotics.git .

# build
$ catkin_make

# run drive wheels
$ bash ./launch_rover.sh

# run gui
$ bash ./launch_gui.sh

Note : Currently launch_gui.sh only launches (1) the sample GUI with realsense camera and usb camera feeds and (2) a dummy controller for testing. All other nodes can be manually launched.

Prerequisites:

• Install realsense2-ros package: sudo apt-get install ros-melodic-realsense2-camera

• Install video-stream-opencv package: sudo apt-get install ros-melodic-video-stream-opencv

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Terminal Commands:

• ls – list all files in current directory
• cd - change directory
  • cd dir1/dir2/dir3/etc to navigate forward through multiple directories
  • cd .. /../etc to go backwards through directories
  • cd takes you to home directory
• mkdir -
• sudo (command) - run administrator commands
• whatis (command) - find function of different command
• exit() - exit python to get back to (base)

Git Commands:

• git diff – check for differences
• git pull – pull upstream changes and update your local repository
• git push – push changes from your local repository to remote repository
• git checkout
  • -b – make new branch
  • - switch to branch
• git status – check which files have been changed
• git add <file/folder name> - stage a file for commit
• git commit -m “COMMENT” - commit changes to branch
  • -a -m “COMMENT” - commit all changes

Extra resources:

• https://docs.gitlab.com/ee/gitlab-basics/start-using-git.html
• https://www.techrepublic.com/article/16-terminal-commands-every-user-should-know/

Launching rover and base station

• Connect antennas
• ssh into Jetson

  >>> ssh robotics@192.168.1.23

• Run rover launch file

  >>> ./ launch_rover.sh.sh 

• Open base station terminal
• Run base station launch file

  >>> ./ launch_base.sh 

• Rover running :)

TODO:

• Should not launch non-necessary components of realsense ROS package
• Make a requirements.txt (similar file for ros packages?)
• Check if cameras are connected