MATE ROV 2022-23

Setup

First-time setup

Follow this environment setup guide!

Then create a workspace:

If you're using VSCode, access WSL by opening VSCode, pressing ctrl+` (below the esc key), clicking the dropdown arrow on the right and selecting Ubuntu (WSL). You can also view your WSL files by opening File Explorer > Linux (bottom left) > Ubuntu > home > your Ubuntu username.

Run

mkdir -p rov_23_ws/src

cd rov_23_ws/

git clone --recurse-submodules git@github.com:cwruRobotics/rov-23.git src

(the src is important)

If you've never contributed to a git repository before, you might receive an error message saying you don't have access. In that case visit this tutorial to set up SSH for local GitHub access.

If you don't have ros2_video_streamer in the new src folder, run this:

git submodule update --init --recursive

Building for VSCode users

Copy src/.vscode/tasks.json to .vscode/tasks.json:

cp src/.vscode/tasks.json .vscode

Now, anytime you want to build, do the following:

In VSCode, press F1 and enter Tasks: Run Task in the field until you see the corresponding option appear. Click or hit enter on that option.

Now select 🏃‍♂️ ROS All to run all dependency download and building scripts.

This whole process should become F1, Enter, Enter once you've done it once, although the magic of symlink should mean you won't need to build again for most things.

If you're working on package metadata (e.g. package.xml) or interfaces, you'll need to run 🏃‍♂️ ROS Quick Build every time you change something.

Automatic building for non-VSCode heathens

Run this command from your workspace folder

. src/.vscode/easy_all.sh

The magic of symlink should mean you won't need to build again for most things, but if you're working on package metadata (e.g. package.xml) or interfaces, you'll need to run this every time you change something:

. src/.vscode/easy_build.sh

Manual building

Make sure you're updated (only on the first build or if something breaks)

rosdep update --rosdistro=$ROS_DISTRO --include-eol-distros

Install dependecies (only on the first build or if something breaks)

rosdep install --from-paths src --ignore-src -r -y

Build (every time)

colcon build --symlink-install

Source your overlay (every time)

. install/setup.sh

Directory Structure

All packages to be installed on the surface computer live in the surface directory.

All packages to be installed on the pi compute module live in the pi directory.

All packages to be installed on the float live in the float directory.

Documentation Structure

Documentation will take place at 3 levels:

• High Level - Overarching Design Document outlining our general structure and what goes where.
• Device Level - ROS Docs as set out in the ROS2 standards.
• Inline Level - Inline Documentation to the level that someone who has some basic code knowledge can understand what the code does.