Repository for the Bison Robotics NASA Robotic Mining Competition 2019 Entry
Build status:
Every card on the sprint board should be tied to an issue. Any issue X that involves code development should have a corresponding branch named issue-X. In order to merge into master a pull request has to be initiated and approved by one other developer. Generally a request shouldn't be merged if it doesn't have tests, it's tests aren't passing, or the Travis-CI build fails. Once the pull request is merged, the corresponding issue should be closed, and the branch corresponding to the request should be deleted. Deleting the branch will appear as a prompt on merge. A good way to automatically close the issue is to reference the issue using a keyword. For example I could reference issue 1 in my pull request by adding the text "closes #1". Try to update the project board when starting, reviewing, and finishing tasks.
See: http://wiki.ros.org/ROS/Patterns/Conventions
And: http://wiki.ros.org/StyleGuide
See: http://wiki.ros.org/CppStyleGuide
And: https://google.github.io/styleguide/cppguide.html
See: http://wiki.ros.org/PyStyleGuide
See: http://wiki.ros.org/Quality/Tutorials/UnitTesting
Follow these instructions: https://help.github.com/articles/connecting-to-github-with-ssh/
There are certain scripts that assume that you have the NRMC2019 repo installed in your home directory. It is recommended you don't try to clone the repo anywhere else.
cd ~
git clone git@github.com:BisonRobotics/NRMC2019.git
Much of the setup process was automated last year. Assuming you are running Ubuntu 16.04, you should be able to just run the following lines of code.
# Install ansible, restart your computer afterwards
sudo apt update
sudo apt install ansible
# Install dependencies
cd ~/NRMC2019
ansible-playbook -i "localhost," -c local src/utilities/ansible/dev_computer_playbook.yml
git lfs install
git lfs pull
# Build NRMC2019 and setup workspace
catkin_make
source devel/setup.bash
# Run unit tests
catkin_make run_tests
If this process doesn't work for you, the manual process is described here
I highly recommend using the clion IDE available at https://www.jetbrains.com/clion/. Make sure you sign up for an education account so you don't have to pay for it. Otherwise if you're as hardcore as Dr. Ding, VIM works too.
In order for clion to see the libraries available to ROS, you'll need to source your ROS install setup.bash and ROS workspace setup.bash (after a build) before launching clion from the same terminal
Our workspace is the NRM2019 repository this README lives in. You can add some optional aliases that make launching stuff and working with ROS easier
echo "alias clion='~/clion/bin/clion.sh'" >> ~/.bashrc
echo "alias ws='cd ~/NRMC2019'" >> ~/.bashrc
echo "alias wss='source ~/NRMC2019/devel/setup.bash'" >> ~/.bashrc
If you are having a permissions issue with git follow these instructions
Do the beginner tutorials: http://wiki.ros.org/ROS/Tutorials.
Tab complete is your friend here
catkin_make run_tests_wheel_control_gtest_test_WaypointControllerHelper2
# Build test for debugging catkin_make -DCMAKE_BUILD_TYPE=Debug test_WaypointControllerHelper2
gdb ./devel/lib/wheel_control/test_WaypointControllerHelper2
You may not be able to enumerate two CANables on the same computer easily and as you would imagine. There is a bug in the CANable firmware which makes one CANable enumerate as two. So, to work around this issue: make one of them can1 and the other can2. Forget about can0. Less than nothing, it decieved you, and so should be scorned.
sudo ip link set can1 type can bitrate 500000 triple-sampling on
sudo ip link set can1 up
sudo ip link set can2 type can bitrate 500000 triple-sampling on
sudo ip link set can2 up
# Disable compilation of GUIs and simulation
export ON_ROBOT=1 # Disable message generation for languages other than cpp
export ROS_LANG_DISABLE=geneus:genlisp:gennodejs:genpy