This is a repository containing all the ROS packages needed for the physical rover as well as 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.
To get started, start by setting up your work environment by following the Work Environment Setup page in the Wiki section. Next, complete the ROS and Git tutorials also found in the Wiki section.
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.
Follow these steps to run the Drive, Cameras, and UI systems:
- ssh to Jetson through McGill wifi or antenna link by running
ssh rover@JETSON_IPand entering the Jetson User's password (ask a lead for that). TheJESTON_IPthrough the antenna link is192.168.1.69. The Jetson IP address through McGill wifi is not static, you will need to obtain it by runningifconfigon the Jetson directly. - Ensure the code version is the one you want to test. To pull latest changes, run
git pullin the rover folder repo~/catkin_ws2/src/rover/. - Build the project by running
catkin buildin~/catkin_ws2/. This step can be skipped if you already built the project code. - To start the Drive, Cameras, and UI systems,
source devel/setup.bashthen runroslaunch rover_system rover_robot_odrive.launch. Note that the rover should be picked up at this point so that the ODrives correctly calibrate. - Access the UI page at
http://JETSON_IP:8080. - To drive, plug a controller to the computer and press on
Onin the Drive UI widget.
- Raw sim: run
roslaunch rover_gazebo rover.launch.