ROS Install

This project uses ROS melodic on Ubuntu 18.04. I would suggest running Ubuntu 18 on a Virtual Machine such as VirtualBox if you do not want to dual boot. If you are unfamilliar with Virtual Machines, this is a good tutorial to get one up and running.

In terminal, run these commands in succession (we are following this tutorial)

#Install sources and keys
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654

#Install ROS
sudo apt update
sudo apt install -y ros-melodic-desktop-full

#Setup the environment
echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
source ~/.bashrc

#Install build tools
sudo apt install -y python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential ros-melodic-compressed-image-transport ros-melodic-theora-image-transport
sudo rosdep init
rosdep update

#Install some ros packages
sudo apt install ros-melodic-rosserial-arduino ros-melodic-rosserial ros-melodic-usb-cam ros-melodic-web-video-server

Congrats! ROS Melodic should be installed. To test, run roscore:

roscore

This should run and not show any errors. To close roscore do a classic Ctrl+C.

ROS Tutorials

If you are not already familliar with ROS, running through the tutorials will bring you up to speed. ROS's tutorials are great, but understand that you don't have to memorise everything they tell you. Also note that we will be using catkin to build and using the ROS melodic distro.

I suggest at least working up to the Writing a Simple Service and Client tutorial as most of the important stuff will be covered there. Otherwise, please feel free to go as far as you desire as the tutorials go on further to teach you about building programs and using more fancy services.

Repo Setup

If you feel comfortable with ROS, go ahead and get this repo set up on your local machine.

#Clone the Repo
cd ~/
git clone https://github.com/NUMarsIce/NUice.git

#Build the workspace
cd NUice/catkin_ws/
catkin_make

#Automatically source our workspace so every new terminal knows about it
echo "source ~/NUice/catkin_ws/devel/setup.bash" >> ~/.bashrc

A good place to start exploring is NUice/catkin_ws/src/nuice_simulations/src/estop_sim/estop_sim_node.py

Firmware

If you want to develop firmware, go to the firmware folder and view the README.

Other

Setup ros communication over the network (for jetson and ground station)

On slave computers: export ROS_MASTER_URI=http://[rpi_master_hostname].local:11311 and export ROS_HOSTNAME=[pc_hostname].local On master Pi: export ROS_HOSTNAME=[rpi_master_hostname].local For better node logging: export ROSCONSOLE_FORMAT='[${severity}] [${node}] [${time}]: ${message}'