UNICORN

This repository contains the main ROS packages for the 2020th iteration of UNICORN, the refuse collecting robot.

• LabVIEW implementations - Repository containing the LabVIEW implementations for the National Instruments RoboRIO board.

• 2019th iteration - The code from the previous iteration of the project, which all code in this repository is based on.

All software is based on ROS Kinetic, and has not been tested for later versions.

• ROS Kinetic - ROS Kinetic installation instructions for Ubuntu 16.04.

• ROS Tutorials - Guide for setting up your ROS workspace.

Getting Started

Please read through the coding style guides we are using

• CppStyleGuide - ROS Cpp Style Guide
• PyStyleGuide - ROS Python Style Guide

Dependencies

Make sure you have cloned the repository into the src folder of your workspace (the following instructions assumes that it is called catkin_ws).

cd ~/catkin_ws/src
git clone https://github.com/HusqvarnaResearch/hrp.git
git clone https://github.com/husky/husky.git

Goto hrp/am_driver_safe and insert a CATKIN_IGNORE file.

cd hrp/am_driver_safe
touch CATKIN_IGNORE

The AprilTag library and ROS wrapper ROS wrapper is also needed.

Install additional dependencies automatically using rosdep

cd ~/catkin_ws
rosdep install --from-path src --ignore-src -r -y

The above dependencies should be enough to get the simulator working.

Dependencies for the robot

• ZED Camera SDK - Install the SDK for JETPACK 3.3 on the TX2 platform if needed

• Intel RealSense SDK - Install the RealSense SDK and ROS wrapper.

Run the Simulator

The simulator can be started using the simulator_2020.launch file in the main unicorn package.

roslaunch unicorn simulator_2020.launch

Launching without any additional arguments will start SLAM by default, but can be turned off with the do_slam argument.

roslaunch unicorn simulator_2020.launch do_slam:=false

The gazebo client is not started by default, and needs to be stared manually.

gzclient

A rviz configuration including all sensors is included in the unicorn package, and can be launched using the rviz.launch file.

roslaunch unicorn rviz.launch

Documentation

Please refer to docs/QuickStart.md for help on how to launch the platform.

Generate documentation using rosdoc_lite by running:

./generate_doc.sh

Then access the documentation by running:

xdg-open docs/doc/unicorn/html/annotated.html xdg-open docs/doc/local_planner/html/annotated.html

Or by going to the html folder and double-clicking on annotated.html.

How to Git

Please refer to this cheat sheet before doing anything.

• GitCheatSheet - Git Cheat Sheet

Open a command window and run:

man git

To access the git manual.

Clone the repository

cd ~/catkin_ws/src
git clone https://github.com/willys0/UNICORN-2020.git

Checkout the branch you want and make a local one

git branch --list
git checkout <branch>
git branch <new-branch>

When your code is stable merge the branches

git checkout <branch>
git merge <local-branch>

If you are working on the same branch it's good practice to always run a fetch & pull when you start your workday.

git fetch
git pull

Push your changes remotely with a commit message

git add .
git commit -m "Commit message goes here"
git push origin <branch>