MBot Omni Autonomy Code

Usage

The simplest way to build is by running: ./build.sh. To build on a laptop, use ./build.sh -l.

To run:

cd system_compilation
./launch_botlab.sh

Directories

• mbot

  • where all the base code resides

• data

  • where data needed to run parts of the assignment are located
  • log files and target files for SLAM and exploration are here
  • data logged or generated ought to reside in that directory

• docker

  • houses some possibly outdated docker files for building and running the code in a container

• scripts

  • contains all supplementary bash files as well as python scripts.

Files

• CMakeLists.txt

  • compiles the mbot codebase code into executables

• build.sh

  • facilitates the system compilation. Different files require access to resources like lcm message compilations or specifically located bash files, this script deals with said organizations for you.
  • run ./build.sh to generate a system_compilation self contained folder.