ROS Intro

This repo contains the following packages. Click on the links below to see specifics on each individual package.

• The Ros Intro Bringup Package which is the entry point to run this project.

Goal

Create an extensible tutorial project for ROS (1).

Conventions

1. All units are in accordance with REP-103 unless explicitly specified.

Setup

Prerequisites & Configuration

1. Download and setup docker Note: docker-compose is usually packaged with most Docker installations

OSX:

1. Download XQuartz
2. Activate the option ‘Allow connections from network clients’ in XQuartz settings
3. run bash xquarzsetup.sh and copy your IP address into the .env file

ENV file

1. The .env file stores the build and run configuration for the project's docker container.
2. In particular, note the ENV varible in .env file. ENV could be one of base, dev, test or prod.

Utilizing Docker

Building the Container

Change directories into the root directory and run docker-compose build.

Starting the Container

Run docker-compose up.

Development

• For development and testing:
  • In the .env file, make sure to change the ENV variable to dev - Docker Compose pulls all its environment variables from this .env file.
  • In a separate terminal window, run docker attach rosintro
  • Go to this project's root directory (where the Makefile exists)
  • To run all packages specified in the d2_bringup launch file, run make run.
  • To see all make command options, simply run make.
• For production, change the .env ENV variable to prod and run the docker image which should auto-start

When new packages are created, add a call to its main launch file to the rosweb_bringup package's launch file.

Testing

You can execute all tests by running make test.

Unit Testing

To execute just unit tests you can run make coverage. Coverage reports are generated and can be viewed by opening the cover/index.html file in a browser.

To manually run one python unit test at a time you can run it like so: python -m unittest test_config. (note: don't include the .py)

Node Testing

You can run an individual ROS node tes like so: rostest sample_package.test

Contribution guidelines

• Unit Tests and ROS Node Tests should be written for all new code.
• All new code should go through a code review via pull requests
• Follow the team's ROS best practices
• Reference the quality checklist below and ensure your code checks off all relevant items

Project Quality Checklist

• README Documentation
• Changelog
• Code Documentation
• Docker Capable
• Makefile scripts
• Appropriate Logging
• Configuration Files
• Multiple Environment Support
• Unit Testing
• Node Unit Testing
• Integration Testing

Tmux Hints

• tmux comes installed if you use the Docker container
• You can use tmux to split the screen tmux && tmux split
• You can move between screens with ctrl-b then [up/down arrow key]
• You can scroll up and down with ctrl-b then [.
• You can quit a window with exit

ROS Hints

If you're having problems running the group in development, run catkin_make and source ~/catkin_ws/devel/setup.bash