RoboRacing Software Installation Instructions ROS2

2022-01-02T08:12:49Z

Nbartholomai3: /* Step 1 - ROS2 Galactic Installation */

[[Category:RoboRacing]]
Welcome!

This will eventually replace the existing RoboRacing Software Installation Instructions at https://wiki.robojackets.org/RoboRacing_Software_Installation_Instructions. We are currently in the process of migrating our repository to ROS2.

= Version Information =
We have decided on using ROS2 Galactic due to its drastic stability increase over Foxy. One primary example is rosbag2 having only a 30% message recording rate in Foxy, but 100% in Galactic. Samsung published an article detailing some of the differences [https://research.samsung.com/blog/Newest-ROS2-Distribution-Galactic-Geochelone-Released here].

= Install ROS2 Galactic =
This guide will assume that you are running Ubuntu 20.04. If you do not have Ubuntu 20.04, we recommend dual-booting your computer. You can find a guide to dual boot by using your search engine of choice.

== Step 1 - ROS2 Galactic Installation ==
This guide will follow https://docs.ros.org/en/galactic/Installation/Ubuntu-Install-Debians.html.
<div style="background:#eee; border:1px solid #ccc; padding:5px 10px"><span style="font-family:courier new,courier,monospace">
sudo apt update && sudo apt install locales

sudo locale-gen en_US en_US.UTF-8

sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8

export LANG=en_US.UTF-8

sudo apt install software-properties-common

sudo add-apt-repository universe

sudo apt update && sudo apt install curl gnupg lsb-release

sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg

echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null

sudo apt update

sudo apt install ros-galactic-desktop
</span></div>

== Step 2 - Get Terminator ==
We primarily use terminator instead of the default terminal since it allows for both horizontal and vertical splitting (which obviously increases overall productivity). Start up the default terminal and type:
<div style="background:#eee; border:1px solid #ccc; padding:5px 10px"><span style="font-family:courier new,courier,monospace">
sudo apt install terminator
</span></div>

== Step 3 - Source Environment Variables ==
For the time being, we do not recommend placing these commands into <code>~/.bashrc</code> because we will be switching between ROS and ROS2. Instead, you will need to source your environment with each shell instance.
<div style="background:#eee; border:1px solid #ccc; padding:5px 10px"><span style="font-family:courier new,courier,monospace">
source /opt/ros/galactic/setup.bash
</span></div>

= Setup Workspace =

== Step 4 - Make File Structure ==
<div style="background:#eee; border:1px solid #ccc; padding:5px 10px"><span style="font-family:courier new,courier,monospace">
mkdir -p ~/roboracing_ws/src

cd ~/roboracing_ws/src

git clone https://github.com/RoboJackets/roboracing-software.git -b ros2/main --recursive
</span></div>

== Step 5 - Install Dependencies ==
<div style="background:#eee; border:1px solid #ccc; padding:5px 10px"><span style="font-family:courier new,courier,monospace">
cd ~/roboracing_ws

sudo apt install -y python3-colcon-common-extensions

sudo rosdep init

rosdep update

rosdep install --from-path src --ignore-src -y
</span></div>

== Step 6 - Building the Code ==
<div style="background:#eee; border:1px solid #ccc; padding:5px 10px"><span style="font-family:courier new,courier,monospace">
colcon build

source ~/roboracing_ws/install/setup.bash
</span></div>

Similar to line 3, you should run <code>source ~/roboracing_ws/install/setup.bash </code> with every new shell instance.

RoboRacing

2021-09-14T00:00:49Z

Nbartholomai3: /* Current Leadership */

[[Category:RoboRacing]]
[[File:RoboRacing-team.jpg|thumb|right|400px| IARRC Result 2019 – First Place!]]
RoboRacing is a competitive robotics team geared towards autonomous racing of small scale automotive platforms. The team started in 2013 and has since built robots to compete in the IARRC competition since the team's inception, as well as the Sparkfun AVC competition since 2016. RoboRacing is additionally planning on competing in the evGrand Prix Autonomous competition in 2020.

RoboRacing puts its members at the forefront of emerging technology in self-driving cars through involvement in autonomous RC vehicle design, fabrication, and programming. Each competition has proven to be a great learning opportunity for everything from robust mechanical design to advanced programming skills that could be applied to diverse engineering applications. 

== Meeting Times ==

We meet in the Student Competition Center (575 14th St). If you are working in the machine shop or mechanical room you will need to wear closed-toe shoes and a t-shirt (no long sleeves). Bring a hair tie if needed.

* Mondays: 6:30-9:00 PM

* Sundays: 4:00-7:00 PM

* Carpool Pickup Locations: North Avenue Apartments & West Village

== Current Leadership ==
* Project Manager: Samuel Walters
* Electrical Lead: Oankar Patil
* Mechanical Lead: Niam Morar
* Software Lead: Nico Bartholomai

==Competitions==

===International Autonomous Robot Racing Competition===
RC scale autonomous racing and navigation.

* [https://iarrc.org/ IARRC Website]
* [https://iarrc.org/rules/ Competition Guidelines]

===evGrand Prix===
Autonomous high-speed racing of full-size go-karts.

* [https://evgrandprix.org/autonomous/ evGP Website]
* [http://evgrandprix.org/forms/rulebook/2020%20Autonomous%20Rulebook.pdf Comptetion Guidelines]

== Past Competitions ==

===evGrand Prix===
{| class = "wikitable" style = "width:95%;"
|- style="font-size:15px;" |
| style="width:20%;" | '''Bot'''
| style="width:20%;" | '''Competition Years'''
| style="width:20%;" | '''Versions'''
| style="width:40%;" | '''Design Reports'''
|-
| style="font-size:15px;" | '''Rigatoni'''
| 2019 - 2020
| Rigatoni
|
* '''Version 1:'''
|}

===IARRC===
{| class = "wikitable" style = "width:95%;"
|- style="font-size:15px;" |
| style="width:20%;" | '''Bot'''
| style="width:20%;" | '''Competition Years'''
| style="width:20%;" | '''Versions'''
| style="width:40%;" | '''Design Reports'''
|-
| style="font-size:15px;" | '''Sedani'''
| 2018 - 2019
| Sedani, Sedanii, Sedaniii
|
* '''Version 1:''' [[:File:RoboJackets-IARRC-2018.pdf| Sedani Design Report]]
* '''Version 2:''' [[:File:RoboRacing_IAARC_2019_Sedanii_Design_Report.pdf| Sedanii Design Report]]
* '''Version 3:'''
|-
| style="font-size:15px;" | '''Macaroni'''
| 2017
| Macaroni
|
* '''Version 1:''' [[:File:RoboJackets_RoboRacing_IARRC_Design_Report_2017.pdf| Macaroni Design Report]]
|-
| style="font-size:15px;" | '''Speedi'''
| 2014-2016
| Speedi, Speedii, Speediii
|
* '''Version 1:''' [[:File:Robojackets-iarrc-2014.pdf| Speedi Design Report]]
* '''Version 2:''' [[:File:Robojackets-iarrc-2015.pdf| Speedii Design Report]]
* '''Version 3:''' [[:File:Robojackets-iarrc-2016.pdf| Speediii Design Report]]
|}

Results:
{| class = "wikitable" style = "width:95%;"
|- style="font-size:15px;" |
| style="width:20%;" | '''Year'''
| style="width:20%;" | '''Placement'''
|-
| style="font-size:15px;" | '''2019'''
| 1<sup>st</sup> Place Overall
|-
| style="font-size:15px;" | '''2018'''
| Did Not Place
|-
| style="font-size:15px;" | '''2017'''
| 3<sup>rd</sup> Place Overall
|-
| style="font-size:15px;" | '''2016'''
| 1<sup>st</sup> Place Overall
|-
| style="font-size:15px;" | '''2015'''
| 4<sup>th</sup> Place Overall
|-
| style="font-size:15px;" | '''2014'''
| 1<sup>st</sup> Place Overall
|}

===Sparkfun AVC===
{| class = "wikitable" style = "width:95%;"
|- style="font-size:15px;" |
| style="width:20%;" | '''Bot'''
| style="width:20%;" | '''Competition Years'''
| style="width:20%;" | '''Versions'''
|-
| style="font-size:15px;" | '''Bigoli'''
| 2016-2018
| [[Bigoli]], Bigolii
|}

Results:
{| class = "wikitable" style = "width:95%;"
|- style="font-size:15px;" |
| style="width:20%;" | '''Year'''
| style="width:20%;" | '''Car Wars'''
| style="width:20%;" | '''Speed Demons'''
|-
| style="font-size:15px;" | '''2018'''
| Did Not Place
| 1<sup>st</sup> Place
|-
| style="font-size:15px;" | '''2017'''
| 1<sup>st</sup> Place
| Did Not Place
|}

== Resources ==
[[How To Record Data On Sedani]]

[[Setting Up Ubuntu for Ethernet LAN While Preserving Wifi Internet Access]]

[[How to Setup CLion for ROS]]

[[Profiling ROS Nodes]]

[[RoboRacing Man vs Machine]]

RoboJackets Wiki - User contributions [en]

RoboRacing Software Installation Instructions ROS2

RoboRacing