This repository contains the code written using ROS2, by RoboFEI team, which is currently used in our physical robots.

It is divided in 8 packages:

• control: contains the code related to the robots motion and its parameters;
• custom_interfaces: contains all the custom interfaces used in the code;
• decision: contains the code responsible for the robots decision;
• GC: contains the code responsible for the robots communication with the game controller;
• localization_pkg: contains the code responsible for the robots localization;
• robotis_ws: contains the code responsible for the robots communication with its motors;
• start: contains the launch file to run all the nodes at once;
• um7: contains the code responsible for getting IMU measurements;
• vision_pkg: contains the code responsible for the robots vision.

1. First, download this repo from github:

   $ git clone https://github.com/RoboFEI/RoboFEI-HT_2023_SOFTWARE.git

2. Then, install ROS2 Humble and all the libraries that are used in our code:

   $ ./comandos.sh

3. Compile all the packages, in the source folder (if there are more folders besides src delete them):

   $ colcon build --symlink-install

4. Setup the environment:

   $ source install/setup.bash

5. Run all codes at once:

   $ ros2 launch start start.launch.py

6. Run the codes separately:

   • Control:

     $ ros2 launch control action.launch.py

   • Decision:

     $ ros2 run decision_pkg decision_node

   • GC:

     $ ros2 run controller talker

   • IMU:

     $ ros2 run um7 um7_node

   • Localization:

     $ ros2 run localization_pkg localization_node --mcl -l -g

   • Motors:

     $ ros2 run dynamixel_sdk_examples read_write_node

   • Vision:

     $ ros2 run vision_pkg vision --vb