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Coupe de France de Robotique 2020 - UTCoupe

master devel
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Configuration

First clone the repo to your PC :

git clone [email protected]:utcoupe/coupe20.git

Development environment configuration

An automated installation script is available. Go in the 'coupe20' folder and launch :

./scripts/install_utcoupe_setup.sh

If it is your first installation, answer "y" to all questions.

Compile the system

The whole system relies on ROS (http://www.ros.org/). Therefore you need to compile the system after having fetched it :

cd coupe20/ros_ws
catkin_make

Source the system

Do not forget to source it ! If you are using bash : ''' source devel/setup.bash '''

If you are using zsh : ''' source devel/setup.zsh '''

You can add the source command with the absolute path to setup.bash in ~/.bashrc (or ~/.zshrc) to automate this process.

Project guidelines

Here are some rules we follow to keep project consistency :

Git

  • Create git branches of format namespace/package for ROS packages (e.g. ai/scheduler, memory/map, etc).

ROS packages

  • Create ROS packages of format namespace_package (for alphabetic order sorting purposes)

  • Create topics/services/actions in the format /namespace/package/server_name if they can be accessed by extern packages (WARNING : with / at the beginning to create an absolute name), server_name if they are only intern.

  • Name definition files .msg/.srv/.action in PascalCase (e.g. GetValues.srv) and variables inside in lower case(format var_name).

Python

  • PEP8 : 4 indentation spaces (no tabs).

Data

  • Distance units in m, stored as float32.

  • When describing a shape (circle, line, rectangle, point...), give the position relative to the center of the shape unless it is absolutely necessary. For example, do not give the corner of a rectangle.

Webclient

To install the webclient dependency :

cd webclient
npm install --only=prod

To launch the webclient :

npm start

Make sure the ROS node rosbridge_server starts right.

The webclient can be launched from the robot or a PC connected to the embedded computer (e.g. Raspberry or Lattepanda).

If the server is launched on the robot, go to http://<ip_of_embedded_computer>:8080.

Else, go to http://localhost:8080 and check if the client connects to the robot IP in the parameters.