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l0g1x edited this page Oct 19, 2014 · 21 revisions

Chicago EDT's IGVC robot Scipio

How to Use Scipio

ROS

  • Install ROS Hydro. We are currently porting over to Indigo, only thing that is keeping us from being completely on Indigo is some Gazebo ROS plugins. Should be 100% ported by November.

Using Scipio Code

  1. Go to wherever your catkin workspace is

    • Example: My catkin workspace is located in ~/edt/scipio_ws/(You don't have to specifically name it "catkin_ws". I will be calling it "scipio_ws".
      • So i type cd ~/edt/scipio_ws/src

  2. Go to github and Fork the [Repo](https://github.com/chicagoedt/Software_IGVC/).

  3. git clone **YOUR FORKED REPO URL** <-- Make sure that is in your catkin_ws/src/ folder

    • For example my forked repo URL would be https://github.com/l0g1x/Software_IGVC.git

  4. cd .. So now you should be in edt/scipio_ws/

  5. Type catkin_make to compile all of the code

  6. Make some changes (refer to the "Development Workflow" section below)

  7. Recompile your changes (catkin_make in the scipio_ws/ folder)

  8. commit changes (refer to the "Development Workflow" section below)

  9. push to YOUR forked repository (refer to the "Development Workflow" section below to know which branch you should push to at what point in time)

  10. Create a pull request for code review

Development Workflow

Here will be explained how to go about making changes to Scipio's code; when you should be on the simulation branch vs. when you should be on the development. You probably won't ever be on the master branch.

Never work directly straight off the main Software_IGVC repo. Any changes should ALWAYS be made on your forked repo of the main Software_IGVC repo.

Simulation Branch (New Features/Implementations)

This is where everybody should ALWAYS start to write any of their new code. Say for example you wanted to write a driver for v3000 Rocket Booster that would make Scipio finish the course in under -52.3 seconds (yes negative); you would first start by switching to the simulation branch. When you are on the simulation branch, there should be no code related to real-world scipio (i.e roboteq_driver, nmea_navsat_driver, etc.)

  • How do you test your code?
    • You will be using the gazebo simulation model for Scipio, which is already configured with all the same sensors as the real life Scipio.

Running Scipio

  • ??

Testing Scipio

  • ??
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