octobotics/Octobotics_Coding_Assignment

Octobotics Coding Assignment

This Github repository provides a base inverted pendulum simulation to be used as-is for the purposes of this assignment

Send the assignment to: ishan.b@octobotics.tech

Instructions

Dependencies

• pygame

pip install pygame

• rospy
• catkin_tools

sudo apt-get install python3-catkin-tools

Usage

• clone the repository

git clone git@github.com:octobotics/Octobotics_Coding_Assignment.git

• navigate to the repository directory

cd Octobotics_Coding_Assignment

• build the project

catkin build

• source the workspace

source devel/setup.bash

• launch the simulation using roslaunch

roslaunch inverted_pendulum_sim inverted_pendulum_sim.launch

For Docker

• pull the image

docker pull nil69/inverted_pendulum_sim_image:latest

• ensure you have the necessary X11 utilities installed on your host machine. On a Debian-based system, you can install them using:

sudo apt-get install x11-xserver-utils

• you need to allow the Docker container to use your host's X server. This can be done by running:

xhost +local:docker

• run the docker image

docker run -it --env="DISPLAY" --env="QT_X11_NO_MITSHM=1" --volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" nil69/inverted_pendulum_sim_image

Published Topics

• /inverted_pendulum/current_state (inverted_pendulum_sim/CurrentState) - Publishes the current state of the inverted pendulum at 100 Hz

Subscribed Topics

• /inverted_pendulum/control_force (inverted_pendulum_sim/ControlForce) - Subscribes to the control force input to the inverted pendulum

Services

• /inverted_pendulum/set_params (inverted_pendulum_sim/SetParams - Sets the parameters and initial conditions of the inverted pendulum