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TechTheTime-HighLevel

The high level of the robot for the Erobot2022 session.

Note: The install, build and launch have been tested only for Debian and derivatives [Raspbian, Ubuntu and Lubuntu].

Requirements

  • ros:foxy
  • rosdep
  • gcc/g++ (the default installation is sufficient)
  • cmake
  • colcon (follow this tutorial)
  • python3.7+
  • rosdep

Install and init

You can install all dependencies manually or you can use scripts in build_tool/utils directory.

After clonning the repo do:

    $ cd build_tool/utils
    $ sudo chmod u+x install-ros.sh
    $ sudo ./install-ros.sh

You must initialize the submodules and install dependencies with rosdep. You can make either by hand or using the script.

Run the following command to initialize HL:

    $ cd build_tool/utils
    $ sudo chmod u+x init-hl.sh
    $ sudo ./init-hl.sh

Build and launch

Build

With the script

Run the next command to build

    $ cd build_tool
    $ ./build-hl.sh [-hvr] [-p <nodes_name>]

Note: Use -h options for help.

This command will build all interfaces which are located in ros_workspace/src/srvs_msgs, needed for nodes communication.

Then, it will build all available or all provided nodes which are located in ros_workspace/src

From source

You need colcon to build from source.

Place you in ros_workspace/src/srvs_msgs to build interfaces:

$ cd ros_workspace/src/srvs_msgs
$ colcon build [--packages-select] [<your_interface>]
$ source install/setup.bash

Place you in ros_workspace to build nodes:

$ cd ros_workspace
$ colcon build [--packages-select] [<your_node>]
$ source install/setup.bash

Note: You must build an interface and source its installation before you build the node which uses this interface.

Launch

By hand

Every time open a new terminal and source ros_workspace/install/setup.bash. You can now launch nodes with the following command:

    $ ros2 run <node> <executable>

With the script.

Use the run script:

    $ cd build_tool
    $ sudo ./run.sh <mode> <script>

There is 2 modes: basic and full. There is no path-finding in the basic mode.

You can write your own scripts and put it in script folder. Just use the name of your script as an argument. Check out the example scripts for the syntax(available orders basically.)

Documentation

GitHub pages

A github action was added, so the documentation is generated and published automatically.

Check documentation there https://club-intech.github.io/TechTheTime-HighLevel/

Generate doc

You must install doxygen in order to generate the documentation locally.

Note: You must install flex and bison to build doxygen from source.

Run the following command in root folder to generate documentation:

$ doxygen

The generated documentation is accessible by opening html/index.html in your browser.