All software for the 2019 UWRT Mars Rover

To get all required dependencies, navigate to the project root directory and run:

./install_dependencies.sh

Put all future non-rosdep dependencies in the dependencies.rosinstall file

We recommend using the catkin build command from the catkin_tools package to build your workspace, instead of using catkin_make. catkin_tools as a whole is more reliable and predictable, as it builds each package in isolation. It is also what our CI uses.

To install catkin_tools, run the following commands:

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu `lsb_release -sc` main" > /etc/apt/sources.list.d/ros-latest.list'
wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
sudo apt update
sudo apt-get install python-catkin-tools

Ensure that all submodules are loaded, and that the husky submodule is on the kinetic-devel branch. Comment out the spawn_husky node in "husky/husky_gazebo/launch/spawn_husky.launch" and the GPS and IMU sensors in "husky/husky_description/urdf/husky.urdf.xacro".

The rover can be setup to start the ros software automatically when it boots. This is can be done using the robot_upstart package.

To install:

    $ rosrun robot_upstart install uwrt_bringup/launch/rover.launch

This will create a job called uwrt on your machine, which launches base.launch. It will start automatically when you next start your machine, or you can bring it up and down manually:

To enable/disable startup service:

    $ sudo service uwrt start
    $ sudo service uwrt stop

If the job rover is crashing on startup, view the logs:

    $ sudo tail /var/log/upstart/uwrt.log -n 30

For more details, please read robot_upstart documentation.

ZED_ROS ZED SDK FLIR_Spinnaker_SDK FLIR_camera_driver Pointgrey_camera_driver FLIR_flycapture2_sdk

For Camera Issues, see:

• https://www.flir.ca/support/products/blackfly-s-usb3#Overview
• https://www.flir.ca/support-center/iis/machine-vision/application-note/understanding-usbfs-on-linux/
• https://www.flir.ca/support-center/iis/machine-vision/application-note/diagnosing-usb-3.1-camera-and-bus-errors/

For C++ code, we follow the ROS coding guidelines. There is a .clang_format file that can automatically format your C++ code in the correct style.

To run the formatter, install the package clang-format

sudo apt install clang-format

Once the package is installed, you can run the following command:

cd <folder containing repository>/Workspace/src/<package_youre_working_on>
find . -name '*.h' -or -name '*.hpp' -or -name '*.cpp' | xargs clang-format -i -style=file $1

For Python 2.7 code, we follow the PEP8 standard. Install pycodestyle to find any styling errors.

sudo pip install pycodestyle

To check your Python files:

cd <folder containing repository>/Workspace/src
find . -name '*.py' -exec pycodestyle {} \;