comp0250_s26_labs

Labs and coursework code for COMP0250

Currently contains the code for coursework 1. Coursework 2 will follow.

In your home directory (locally or on the GPU servers) type

git clone https://github.com/surgical-vision/comp0250_s26_labs.git

If you've done this previously do the following to pull code that has been added (in the master branch):

cd ~/comp0250_s26_labs
git pull origin master

ROS 2 dependency install (required once)

./scripts/install_ros2_deps.sh
sudo apt-get install -y \
  ros-humble-moveit \
  ros-humble-moveit-core \
  ros-humble-moveit-ros-planning-interface
sudo apt-get install -y \
  ros-humble-pcl-ros \
  ros-humble-pcl-conversions \
  ros-humble-point-cloud-transport
sudo apt-get install -y ros-humble-gazebo-ros2-control
sudo apt-get install -y python3-catkin-pkg python3-catkin-pkg-modules

Optional camera-processing packages (not needed for current baseline):

sudo apt-get install -y \
  ros-humble-image-proc \
  ros-humble-depth-image-proc

If you use Conda, run conda deactivate before ROS2 build/launch.

ROS 2 build

cd ~/comp0250_S26_labs
source /opt/ros/humble/setup.bash
colcon build --mixin release
source install/setup.bash

YOU MUST RENAME THE DIRECTORY cw1_team_x to your team number and amend the following command appropriately

ROS 2 launch: cw1_team_x

Use this command to run your solution to the coursework:

cd ~/comp0250_S26_labs
source /opt/ros/humble/setup.bash
source install/setup.bash
export PATH=/usr/bin:$PATH
export RMW_FASTRTPS_USE_SHM=0
ros2 launch cw1_team_x run_solution.launch.py \
  use_gazebo_gui:=true use_rviz:=true \
  enable_realsense:=true enable_camera_processing:=false \
  control_mode:=effort

ROS 2 command: Task 1

ros2 service call /task cw1_world_spawner/srv/TaskSetup "{task_index: 1}"

Task 1 scenario 2 only:

ros2 service call /task cw1_world_spawner/srv/TaskSetup "{task_index: 111}"

ROS 2 test command: Task 2

ros2 service call /task cw1_world_spawner/srv/TaskSetup "{task_index: 2}"

ROS 2 test command: Task 3

ros2 service call /task cw1_world_spawner/srv/TaskSetup "{task_index: 3}"