ROS-runt-rover

ROS implementation of runt rover

This assumes that you have Ubuntu 20.04, ROS Noetic and rosserial installed.

Clone this repository inside < your catkin workspace >

The repo is our catkin_ws, so I recommend cloning then renaming this repo as 'src', then running catkin_make

mkdir catkin_ws
cd catkin_ws
git clone <url> src 
catkin_make

Setting up Rosserial:

Follow this installation process http://wiki.ros.org/rosserial_arduino/Tutorials/Arduino%20IDE%20Setup

Need to run this command to make the specific library with the custom message. Check the example in this link for the correct arguements (http://wiki.ros.org/rosserial_arduino/Tutorials/Adding%20Custom%20Messages).

This assumes that you have rosserial already installed but not have built our custom message package (rover)

First we need to build our catkin workspace

Building:

If you are running this on the Rasberry Pi 3b+ use this command inside your catkin workspace

catkin_make -j 1 -DCMAKE_CXX_FLAGS="--param ggc-min-expand=20"

otherwise just run

catkin_make

Custom message in rosserial

Follow this tutorial (steps 1 and 2 and 5) http://wiki.ros.org/ROS/Tutorials/CreatingMsgAndSrv#Common_step_for_msg_and_srv

After this you need to go back into catkin_ws and put in

source devel/setup.bash 
rosrun rosserial_client make_library.py path_to_libraries

Note: idk why but this is very flaky, I find that you need to type in the full directory path for the libraries and we are leaving the argument after that blank so that it can build all the custom messages in our workspace

If this is the first time doing this, there should be an output and your package and msg should be listed

Creating new package

Simply create a new folder with your package name on the same level as the drivetrain folder. From here you will create a CMakeLists.txt and package.xml file and populate these accordingly, use previous CMakelists as a template but make sure to add in your dependencies.