SKAR Rover Software

This repository contains source code of our software that runs on the on-board computers of Sirius rover family.

Requirements

• ROS Noetic running on Ubuntu 20.04
• Python 3
• Docker (optionally)

Building

Clone the repository onto your local machine (using https is easier, but you can use ssh as well):

$ git clone https://gitlab.com/ska_robotics/sirius/rover-soft

Enter the project's workspace:

$ cd rover-soft

Use rosdep to install any missing dependencies:

$ sudo rosdep init
$ rosdep update
$ rosdep install --from-paths src --ignore-src -r -y

Build the project using:

$ catkin build

Always remember to source ros:

$ source devel/setup.bash

Development

For an optimal development experience, we recommend using VSCode, which comes with pre-configured default settings. To prepare your development environment, please follow these steps:

1. Install catkin-tools-clangd:

   • Run pip install catkin-tools-clangd.
     This tool is essential for generating the compile_commands.json file, which is required for clangd.
   • After installation, use the command catkin build_compile_cmd or the default build task as a substitute for catkin build.
   • Note: The build type is set to debug by default, with no additional flags provided. It’s recommended to use catkin config to modify build settings. For example, use catkin config -j1 to limit the maximum number of build jobs to 1.

2. Setting Up VSCode:
   Follow the prompts in VSCode to install recommended extensions. You might also receive prompts to install missing tools, such as clangd.

Launching

Coming soon...™

Docker

Our pipeline automatically creates docker images based on the newest version of the project available on develop and main branches. You can run Rover Soft inside a container using Docker.

First, you need to login into our container registry:

$ docker login registry.gitlab.com -u <gitlab_email> -p <access_token>

Now you can use docker compose to start Rover Soft:

$ docker-compose up

Alternatively, you can enter an interactive shell with ready environment using:

$ docker run -it registry.gitlab.com/ska_robotics/sirius/rover-soft/rover-soft:stable

Documentation

Our project's documentation is avaiable here. Further information about the software is also available in detailed descriptions of each package.

Copyright © 2021, SKA Robotics Warsaw University of Technology