Welcome to the RoboJackets/RoboNav software repo for the University Rover Challenge (URC)! This document will give you a brief description of the repo's layout and an overview of the repo.

• .github CI pipeline and PR/issue templates
• cmake CMake files to aid with building
• documents Research, design, and documentation
• external Where all our submodules are located
• urc_analysis Nodes used for scientific analysis
• urc_arm_moveit_config Moveit config folder for rover arm
• urc_bringup Location of the universal launch file + heartbeat node
• urc_control deprecated Controller manager node and controllers bring up
• urc_controllers ros2-control controllers
• urc_gazebo Helper nodes used for simulation purposes
• urc_hw ros2-control hardware interface
• urc_hw_description URDF description for the rover
• urc_manipulation Collection of nodes used for the robotic arm
• urc_nanopb nanopb related files and settings
• urc_msgs Custom ROS messages used in various packages
• urc_platform Manages our nanopb protocol buffers
• urc_nav2 Launch scripts and configs for Nav2 packages
• urc_navigation Collection of nodes that form our navigation stack
• urc_perception Collection of nodes that form our perception stack
• urc_platform Nodes that are platform specific and used to communicate with the hardware, ie. IMU, joystick and motor controller
• urc_util A collection of utility nodes and classes

Essential
You will need to be using Ubuntu 22.04 to run ROS2. This can be accomplished with any of the following methods:

• Ubuntu 22.04: Native Installation or WSL (Windows/Linux) Strongly recommended!
• NoVNC Docker Installation Instructions (Mac/Windows/Linux) Less viable, use for Apple Silicon

Specific Features

• XBox Controller Setup
• Depth Camera Setup
• ROS2 Control Gazebo Setup
• Radio Communication Between Rover and Ground Station

• Useful Commands: ROS2 Commands, Git Commands
• Design Presentation Requirements
• Drone Repository
• Firmware Repository

• Slack
• Google Drive
• Software Training

• ROS2 Humble Documentation
• MoveIt2 Documentation
• Nav2 Documentation
• ROS2 Control Documentation

Fix (will only build after the last time):

colcon build --symlink-install ; chmod +x build/urc_nanopb/nanopb/generator/protoc-gen-nanopb
colcon build --symlink-install ; chmod +x build/urc_nanopb/nanopb/generator/nanopb_generator.py
colcon build --symlink-install