undergraduate-ros-project

Managing binary package dependencies

A binary package can be installed without the need to build it. Official ROS packages can be installed as binary with the following:

sudo apt install ros-{ROS_DISRO}-{PACKAGE_NAME} 

For example,

sudo apt install ros-humble-control 

However, it is best practice to add all binary packages to the package xml (see example) and then install binary packages with

rosdep install --from-paths src --ignore-src -y 

Note, the above command must be run at the root of the ROS workspace.

Managing source package dependencies

A source package must be build in order to use it. It is recommended to manage these packages using a .repos file. In this file, git repositories are listed in a .yaml file format and can be downloaded using vcs. To install vcs you can run:

sudo apt-get install python3-vcstool 

Once installed, you can run the following to download all of the dependencies.

vcs import < external.repos.yaml 

Making Docker Image and Running in a Container

Building the docker image from dir docker and naming it nao with tag latest

sudo docker build docker -it nao:latest

Uses docker image from above to make a container

cd docker

sudo docker compose up

In a new terminal (or set docker container to run in the background).

sudo docker exec -it docker-nao_controller-1 bash

You'll still need to source ROS, but all external packages will already be downloaded. Make sure to source again after building in the newly built install folder

Running the Naoqi Driver

Run the driver with

ros2 launch naoqi_driver naoqi_driver.launch.py nao_ip:=192.168.1.12 nao_port:=9559 network_interface:=eth0

Run the Nao Demo

Run the driver with

ros2 launch launchDemo NaoDemo_launch.py