PARC-Engineers-League

PARC Engineer's League Competition Package

Setup

Setup ROS workspace

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
catkin_init_workspace

Clone the repository

cd ~/catkin_ws/src
git clone --recurse-submodules https://github.com/PARC-Robotics/PARC-Engineers-League.git

Or if you already have cloned the repo without submodules, run command git submodule update --init --recursive to update them.

Install dependencies

cd ~/catkin_ws
sudo apt update
rosdep install --from-paths ./src --ignore-src -y

Compile

cd ~/catkin_ws
catkin_make

NOTE: There is a known issue while compiling, Intel RealSense SDK 2.0 is missing To solve, update the file realsense-ros/realsense_camera/CMakeLists.txt,line: 43 to find_package(realsense2 2.36.0) i.e. downgrade the required version of realsense2 to 2.36.0

Run

Task 1

Run the following command in one Terminal

source ~/catkin_ws/devel/setup.bash
roslaunch parc-robot task1.launch

And Run the following command in another terminal

source ~/catkin_ws/devel/setup.bash
roslaunch parc-robot teleop.launch

Now keeping the second terminal on top (teleop.launch) press i to move the robot forward, you can see the robot moving in "RViz" and "Gazebo" windows. you can use the keys shown below to move the robot and k key to stop the movement.

Moving around:
   u    i    o
   j    k    l
   m    ,    .