/MoPAT_Design

Repo for the "Motion Planning Algorithms Testbed" Project

Primary LanguagePython

MoPAT_Design

This is the source repo for MoPAT Design Project under Dr. Gaurav Trivedi, EEE Department, IITG.

For this one, install ROS2 Dashing

Running ROS2 package(still in development)

NB: -> represents next command, not in the same line

  1. Create new directory and move in: mkdir -p ~/mopat_ws/src -> cd ~/mopat_ws/src
  2. Copy mopat_pkg from MoPAT_Design/ROS2 to src
  3. Clone ros2-perception, specifically for CvBridge package: git clone https://github.com/ros-perception/vision_opencv.git
  4. Checkout to ros2 branch: cd vision_opencv -> git checkout ros2
  5. Install all dependencies
  6. Build the pacakges: colcon build --symlink-install

To run simulation: ros2 launch mopat_pkg sim_launch

To run main system: ros2 launch mopat_pkg main_launch

To run individual nodes: ros2 run mopat_pkg <node_name>

NB: For more details on CvBridge: https://index.ros.org/p/cv_bridge/github-ros-perception-vision_opencv/#dashing

NOTE: To get logger output-
  1. Go to opt/ros/dashing/lib/python3.6/site-packages/launch/actions
  2. Open the file "execute process" as admin (sudo)
  3. Find "emulate_tty=False" in the file and set it to "emulate_tty=True"

This would get the INFO logger output when using launch files

Based on - ros2/launch#188