Developement

When setting up your IDE, you can use the "Hatchery" plugin for Intellij-based IDEs

Critical to this project is the wheels_drive_node and the wheels_cmd topic. This pair will interface with the low level motor control and take a value between 0 and 1. Look at the movement-test branch for an example.

The dev cycle is summarized by the following commands: Building and running (stolen from this documentation):

• On a local machine
  • To build locally: dts devel build -f
  • To run locally: dts devel run
• On a duckiebot, MY_ROBOT
  • To build: dts devel build -f -H MY_ROBOT.local
  • To run: dts devel run -H MY_ROBOT.local

Useful commands:

• dts duckiebot keyboard_control MY_ROBOT
• dts start_gui_tools MY_ROBOT