This is the repository for MRAC workshop 2.1, ROBOTICS SOLUTIONS FOR 3D SPACE ANALYSIS. This ROS-based part focuses on integrating advanced 3D scanning technologies, OpenCV-powered navigation, and 3D Lidar mapping for the Husky robot.

• Installation
• Usage
• Contributing
• License

Supported Operating Systems: Ubuntu 20.04 and Ubuntu 22.04

This project uses Docker for containerization. If you don't have Docker Engine installed, follow this link To manage docker as a non-root user, please follow the post-installation steps in this link

Add the following to your bashrc file for ros and the workspace to be sourced when opening a new terminal in dev_ws, make sure your are not sourcing ROS in your bashrc file.

if [ -f "/dev_ws/setup.bash" ]; then
    source /dev_ws/setup.bash
fi

If you want to visualize the pointcloud and images from husky robot please install foxglove studio.

sudo snap install foxglove-studio

To access the files inside container you need to install Remote Development and Docker extension in your vscode. To modify the files in container:

• click the Docker icon in vscode
• Right click the container you want to access
• Attach vscode
• Open the folder, type /dev_ws/src

Fork this repository and clone to your computer Add the submodles

cd MRAC_SENSING_WORKSHOP
git submodule update --init

Build the ros_sim image

cd ros_sim
.docker/build_image.sh

Build the turtlebot_remote image

cd turtlebot_remote
.docker/build_image.sh

Run the container

.docker/run_user.sh

Once you run the container, you will see the terminal return the request to change the ownership of the folder, copy this line from the terminal

sudo chown -R $USER /dev_ws

Then run the terminator

Terminator

Congratulation, you can roslaunch your node in the terminator now!

ros_sim

husky_tutorial