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urc-software CI Status Badge

Welcome to the RoboJackets/RoboNav software repo for the University Rover Challenge (URC)! This document will give you a brief description of the repo's layout and an overview of the repo.

Software Lead

Directory Structure

  • .github CI pipeline and PR/issue templates
  • cmake CMake files to aid with building
  • documents Research, design, and documentation
  • external Where all our submodules are located
  • urc_arm_moveit_config Moveit config folder for rover arm
  • urc_bringup Location of the universal launch file + heartbeat node
  • urc_controllers ros2-control controllers
  • urc_gazebo Helper nodes used for simulation purposes
  • urc_hw ros2-control hardware interface
  • urc_hw_description URDF description for the rover
  • urc_manipulation Collection of nodes used for the robotic arm
  • urc_nanopb nanopb related files and settings
  • urc_msgs Custom ROS messages used in various packages
  • urc_platform Manages our nanopb protocol buffers
  • urc_navigation Collection of nodes that form our navigation stack
  • urc_perception Collection of nodes that form our perception stack
  • urc_platform Nodes that are platform specific and used to communicate with the hardware, ie. IMU, joystick and motor controller
  • urc_util A collection of utility nodes and classes

Installation Instructions

Essential
You will need to be using Ubuntu 22.04 to run ROS2. This can be accomplished with any of the following methods:

Specific Features

Helpful Resources

Team-Related Links

External Documentation and Background Reading

Common Issues

NanoPB Not Building

Fix (will only build after the last time):

colcon build --symlink-install ; chmod +x build/urc_nanopb/nanopb/generator/protoc-gen-nanopb
colcon build --symlink-install ; chmod +x build/urc_nanopb/nanopb/generator/nanopb_generator.py
colcon build --symlink-install