CPRT Rover

Carleton's Planetary Robotics Team (CPRT) code for rover side operations.

Dependencies

• Docker: Required to build and run the development container.
• Git: Needed to clone the repository and its submodules.4
• WSL: Needed to run docker desktop (Windows only)*

Getting Started

Ensure you have an SSH key associated with you github account

To clone this repository along with all its submodules, run:

git clone --recurse-submodules [email protected]:CPRT/rover.git

Running Dev container

1. Download the VS Code Remote Extension
2. Click the remote explorer button in bottom left corner
3. Select re-open in container
4. Select config file consistent with your setup (amd64 for linux x86, jetson for arm64, or windows for windows x86)
5. Source ros.sh to source the ros2 virtual environment

. ros.sh

When using alongside webUI launching

• Make sure to set ROS_DISCOVERY_SERVER=<ip of rover>
• To make ros2 topic list work, set ROS_SUPER_CLIENT=TRUE
• Restart the Docker daemon

export ROS_DISCOVERY_SERVER=192.168.0.55:11811
export ROS_SUPER_CLIENT=TRUE
ros2 daemon stop
ros2 daemon start

Launching a docker container like the webUI

docker run -it \
  --privileged \
  --network host \
  --ipc host \
  --rm \
  -e ROS_DISCOVERY_SERVER=192.168.0.55:11811 \
  --runtime=nvidia \
  --volume /dev/serial/by-id:/dev/serial/by-id \
  --volume /dev/v4l/by-id:/dev/v4l/by-id \
  --volume /usr/local/zed:/usr/local/zed \
  cprtsoftware/rover:arm64 \
  <COMMAND>