This repository contains the code for the software sub-team for UT RoboMaster. The software sub-team is one of the two software-focused teams in RoboMaster, the other being the firmware sub-team. The distinction between the two teams can be roughly understood as firmware handles the direct control of the robot, while software runs on a separate board to try to provide more information or autonomy to the robot and operators.
For any platform, you will need Git, Docker, and ideally Visual Studio Code, but if you strongly prefer you can replace Visual Studio Code with an IDE of your preference.
If you are on a Windows platform, keep in mind that you will not be able to use the built in command line for Windows, as it does not support shell scripts. Instead, you should either opt to use Git Bash, which comes installed with Git by default, or if you are more tech-savvy, feel free to attempt to use Windows Subsystem Linux (scripts are untested on WSL).
Additionally, when you clone this repo, try to make sure there are no spaces in the path to the repo, as that can potentially break some scripts.
If you have already setup git with SSH authentication you may skip this step.
Generate a SSH key in Terminal (MacOS, Linux) or Git Bash (Windows)
ssh-keygen -t ed25519 -C "[email protected]"
When prompted, just press enter until the command finishes. This will create an ssh key in the default location without a passkey. (You can choose a passkey if you would like, but it will ask you for the passkey every time you pull or push).
Copy the output of the following command:
cat ~/.ssh/id_ed25519.pub
Open GitHub -> Settings -> Keys in a web browser.
Click "New SSH Key" and paste the output you copied earlier into the box titled "Key."
Click "Add SSH Key" to finish.
Go to the directory that you want to clone the repo in (if on Windows, make sure it has no spaces). Then run:
git clone [email protected]:ut-ras/robomaster_cv.git
Then, when finished, run:
git submodule update --init --recursive
Once the repo is cloned, open the repo in Visual Studio Code. Press ctrl + grave (grave is the button below the tilde, ~) to open up the terminal pop-up.
If you are on Windows, make sure that it is running in Git Bash and not on command line.
In terminal, run:
./scripts/run_dev.sh
This will kick off a run to build our Docker container which contains our dev environment which will take ~5 minutes, and then open it up in the terminal after. In future runs, it will take ~20 seconds to reopen the container after it is built. If you're curious, you can find more information about Docker here.
If you need more terminal windows, you can open another terminal window and run the same script, which will attach to the same container.
The build system that ROS2 uses is called colcon. The repo includes several aliases to help with building.
To build a specific package, make sure you are in the root directory then run build package_name. This is an alias to colcon build --symlink-install --packages-up-to package_name.
Try this by running build realsense2_camera (should take ~3 min)
You can also run build_all, but this is likely broken in the current version of the repository.
All of our source code is located within the src directory. You can feel free to poke around the packages, or check out the software wiki which goes more in depth.