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| # rover | ||
| Mars Rover Project software development | ||
| # Mars Rover Project software development | ||
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| This is a repository containing all the ROS packages needed for the physical rover as well as | ||
| the Gazebo simulation. Each package contains a README file that explains the package architecture as well | ||
| the simulations. Each package contains a README file that explains the package architecture as well | ||
| as details pertaining to messages, functions, and so on. After you follow this README, make sure to check | ||
| the individual package README's for clarification. | ||
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| # Getting Started | ||
| To get started, start by setting up your work environment by following the [Work Environment Setup page](https://github.com/mcgill-robotics/rover/wiki/1.-Work-Environment-Setup) in the Wiki section. Next, complete the [ROS](https://github.com/mcgill-robotics/rover/wiki/2.-ROS-Tutorial) and [Git](https://github.com/mcgill-robotics/rover/wiki/3.-Git-Tutorial) tutorials also found in the Wiki section. | ||
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| ### Working with Ubuntu | ||
| To use ROS, you will need an Ubuntu system. For Windows users, options include dualbooting, virtual machines | ||
| or WSL (Windows Subsystem for Linux). You can also try VPN'ing into McGill EMF (Engineering Microcomputing | ||
| Facilities) PC's, but some of the steps will need sudo which might not be allowed. | ||
| Finally, clone the repository by running `git clone https://github.com/mcgill-robotics/rover` in a folder called `src` (e.g., create a `catkin_ws` folder in `Documents` and clone the repo in `Documents/catkin_ws/src/`) and build the catkin workspace by running `catkin build` in your catkin workspace. | ||
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| ### Installing ROS | ||
| Follow [these steps](http://wiki.ros.org/noetic/Installation/Ubuntu) to install ROS. Next, follow [these steps](http://wiki.ros.org/ROS/Tutorials/InstallingandConfiguringROSEnvironment) to see how to configure your shell and how to make a workspace. If you | ||
| want, you can keep going with the tutorials to familiarize yourself with ROS and its commands. In addition, you | ||
| should install the packages listed in "requirements.txt". | ||
| # Running the System on the Rover Computer (Updated May 19 2024) | ||
| Follow these steps to run the Drive, Cameras, and UI systems: | ||
| 1. ssh to Jetson through McGill wifi or antenna link by running `ssh rover@JETSON_IP` and entering the Jetson User's password (ask a lead for that). The `JESTON_IP` through the antenna link is `192.168.1.69`. The Jetson IP address through McGill wifi is not static, you will need to obtain it by running `ifconfig` on the Jetson directly. | ||
| 2. Ensure the code version is the one you want to test. To pull latest changes, run `git pull` in the rover folder repo `~/catkin_ws2/src/rover/`. | ||
| 3. Build the project by running `catkin build` in `~/catkin_ws2/`. This step can be skipped if you already built the project code. | ||
| 4. To start the Drive, Cameras, and UI systems, `source devel/setup.bash` then run `roslaunch rover_system rover_robot_odrive.launch`. Note that the rover should be picked up at this point so that the ODrives correctly calibrate. | ||
| 5. Access the UI page at `http://JETSON_IP:8080`. | ||
| 6. To drive, plug a controller to the computer and press on `On` in the Drive UI widget. | ||
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| ### Installing Dependencies | ||
| The rover uses some packages provided by the larger community. To install them and be able to use them, the following commands need to be run | ||
| ``` | ||
| sudo apt-get install ros-noetic-rosserial | ||
| ``` | ||
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| ### Working with Catkin | ||
| Catkin is ROS's build system, which traverses every ROS package in a source directory and compiles them into | ||
| ROS modules. Every ROS project has a Catkin workspace structure: | ||
|  | ||
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| This repository represents the "src" folder in this file tree. So, create a folder that will be your catkin | ||
| workspace and clone this repository inside that folder. (This part might not be necessary, but rename the cloned | ||
| folder "src" in case the catkin builder gives errors.) | ||
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| Navigate to the folder into which you cloned this repo, and run `catkin init` followed by `catkin build`. This should build the modules and | ||
| create two more folders: "build" and "devel". At this point, you should source the setup script in the devel folder: | ||
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| `source devel/setup.bash` | ||
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| ### Starting Nodes | ||
| To start the nodes, you should first run `roscore` in a seperate terminal. This is the program that allows all | ||
| ROS modules to communicate. Then, you can go back to the first terminal to start whichever node(s) you need. | ||
| Navigate to the "rover" folder (or "src" if you renamed it), then use this syntax: | ||
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| `rosrun [package_name] [node_name]` | ||
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| Package names are the same as the folders that you see in the repo. You can find the node names in the "src" subfolder | ||
| of each package. | ||
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| Also see the README in the folder "rover_system" to see how to launch all the necessary nodes for different tasks. | ||
| # Running Rover Simulation | ||
| - Raw sim: run `roslaunch rover_gazebo rover.launch`. |