Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

readme update #98

Open
wants to merge 2 commits into
base: master
Choose a base branch
from
Open

readme update #98

Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
98b75a8
Update README.md
PERPETU4L-M0TI0N Mar 16, 2023
a269ef6
Update README.md
PERPETU4L-M0TI0N Mar 16, 2023
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
18 changes: 15 additions & 3 deletions README.md
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -9,20 +9,32 @@ The recommended installation process is to go to the `robosub` directory and run

bash scripts/install_scripts/install-ros-foxy.sh

which will install ROS2 Foxy, Gazebo 11, download the necessary repositories, install the requirements using `rosdep`, and setup your `~/.bashrc` for future use. Then, run
which will install ROS2 Foxy, Gazebo 11, download the necessary repositories, install the requirements using `rosdep`, and setup your `~/.bashrc` for future use.
First source ros2

source /opt/ros/foxy/setup.bash

Then, run

colcon build --symlink-install

which will build the necessary files.

# Running the sub

Make sure you have sourced the `foxy` setup file, `gazebo` setup file, and `robosub` setup file already (this is done for you in the install script). Then run each command in a different terminal. We recommend using [tmux](https://github.com/tmux/tmux/wiki) to run the commands in separate panes so you can see all the outputs.
Make sure you have sourced the `foxy` setup file, `gazebo` setup file, and `robosub` setup file already (this is done for you in the install script).
From your robosub workspace you can run

## Teleop Mode
source ./install/setup.bash
source ./install/local_setup.bash

Then run each of the following command in a different terminal. We recommend using [tmux](https://github.com/tmux/tmux/wiki) to run the commands in separate panes so you can see all the outputs, though it is fine to use the default terminal.

1. `ros2 launch simulator robosub.launch` will spawn Gazebo with the RoboSub 2019 world
2. `ros2 launch sub_descriptions upload_rexrov_default.launch.py x:=10 y:=-10 z:=-10` will spawn in our submarine into Gazebo.

## Teleop Mode

3. `ros2 launch uuv_control_cascaded_pid key_board_velocity.launch model_name:=rexrov` will start the PID controllers for the sub and the thruster manager.
4. `ros2 run uuv_teleop vehicle_keyboard_teleop.py --ros-args -r output:=/rexrov/cmd_vel` to use a keyboard to send commands to the motor controllers.

Expand Down