purdue_lunabotics

This is the official git repo of the Purdue Lunabotics software team.

Supported Platforms Out of the Box

• Fully-supported
  • Ubuntu 20.04
• Partly-supported
  • Windows:
    • Use WSL2 (caveat: gui may appear more laggy)
    • Dual boot linux (caveat: can be hard to set up, not recommended for beginners)
• Not supported
  • MacOS (both Intel and M1)

Other installation methods

• Docker (not tested), adds support for MacOS and Windows
  • Get docker
  • Use this ROS noetic Docker image (choose arm if you're on M1 Mac)
  • Useful docker-ros tutorial for learning how docker can be used with ROS

Getting started

1. Install ROS (Linux only)

ROS install:

wget -c https://raw.githubusercontent.com/qboticslabs/ros_install_noetic/master/ros_install_noetic.sh && chmod +x ./ros_install_noetic.sh && ./ros_install_noetic.sh

Install catkin tools + setup catkin workspace:

mkdir ~/catkin_ws/src
sudo apt install python3-catkin-tools

This tutorial assumes you have your catkin_ws initialized in your home directory: ~/catkin_ws

2. Clone the repository to src folder of ROS workspace

cd ~/catkin_ws/src
git clone --recurse-submodules https://github.com/PurdueLunabotics/purdue_lunabotics.git 

Note: if you forgot to add recurse, run: git submodule update --init --recursive --remote

3. Install dependencies at the root of your catkin workspace

cd ~/catkin_ws
rosdep install --from-paths src --ignore-src --rosdistro=noetic -y
sudo ./src/purdue_lunabotics/install-non-ros-deps.sh

4. Build + source (Do this every time you download new packages). NOTE, on the lunabotics computer this is luna_ws

catkin build
source ~/catkin_ws/devel/setup.bash # or .zsh if you use a zsh terminal

Note: Build + source every time you add new packages. Source every time you open a fresh terminal, or add the line to your ~/.bashrc (or .zshrc) so it sources automatically

Testing your setup

1. Run the sim

roslaunch lunabot_bringup sim.launch

you should see two new windows pop up: once called gazebo and one called rviz

NOTE: to remove the TF_REPEATED lines run:{ roslaunch lunabot_bringup sim.launch verbose:=true 2>&1 | grep -Ev 'TF_REPEATED_DATA|buffer_core|at line|^$'; } 2>&1

2. Set goal waypoint in rviz and watch the robot navigate

Important docs to read

• contributing guidelines
• running_the_robot
• firmware setup
• simulated arena docs