Running the BOBOT‐1 Software

Running the Software - It's Easy!

Step One: source ROS

If you haven't already done so, run the following command anywhere in the terminal

source /opt/ros/jazzy/setup.bash

Step Two: setting up the BOBOT-1 software

• Navigate to the top-level folder of the BOBOT-1 file system ( bobot-1/ )
• Once at the top-level folder (we call this the parent directory of the ROS workspace)

Building the code:

Run the following command to compile all of the BOBOT-1 code (in the top level directory):

colcon build

Sourcing the BOBOT-1 code:

Now, run the following command to source all of the BOBOT-1 code so our computer knows it exists:

source install/setup.sh

Running the code in developer mode (FOR CODE DEVELOPMENT)

To run the code in developer mode, simply run the "dev_preparer" script from the parent directory of the BOBOT-1 ROS workspace:

./dev_preparer.sh

Preparing the code for flight (FOR ACTUAL LAUNCHES)

To prepare the code to run in launch mode, simply run the "flight_preparer" script from the parent directory of the BOBOT-1 ROS workspace:

./flight_preparer.sh

Running the code

To run the system, run the following command in the parent directory of the BOBOT-1 ROS workspace:

ros2 launch bobot_bringup core_launcher.launch.py

Running the code in sim

If you wish to run the code with limited simulation features (so that you don't need the hardware), you can change the hardware parameters to "sim" in the bobot_hardware_config.yaml file found in the bobot_utils package

Make sure to recompile the code before running!

Running the camera in sim

Currently, there is no sim option for the camera (needs to be added) - if you wish to run the software without the camera, simply comment it out from the return_launch_description() porition of the core_launcher.launch.py file found in the bobot_bringup package.

Make sure to recompile the code before running!

Closing remarks

While more detailed documentation will (hopefully) be coming soon - I trust that the developers can trace the path of execution from the top-level core_launcher.launch.py file to the many subsets of launch files throughout the BOBOT-1 software. A simply google search and some reading of code should provide you with a good understanding of whats happening where - and hopefully code comments assist as well!