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UPenn GoKart ROS 2 Sample Workspace

A ROS 2 Sample Workspace with the UPenn GoKart Simulator.

Development

Requirements:

  • Ubuntu 20.04
  • a working installation of ROS 2 Foxy (newer versions might work as well), see Installing ROS 2 via Debian Packages
  • vcstool
    • Test if you have it using: vcs --version (should print vcs 0.3.0)
    • You can install using sudo apt install python3-vcstool or python3 -m pip install -U vcstool

Note about sourcing

Note! Always use a separate terminal windows/tabs for building and running.

In a terminal window/tab where you are building the workspace, you must source only the ROS 2 Foxy (source /opt/ros/foxy.setup.bash).

Then, in other terminal windows/tabs you can source the built workspace (source install/setup.bash) and run the programs.

If you source workspace in the building terminal window/tab, then you will pollute the environment and the resulting built workspace might not work correctly.

First-time Setup

In the repo/workspace root, run:

source /opt/ros/foxy/setup.bash
vcs import < gokart.foxy.repos
./src/gokart/rosdep/install.sh
rosdep install -i --from-paths src -y

./src/gokart/rosdep/install.sh installs custom rosdep lists file. This needs to be done only once. See gokart-rosdep.

Run when you pull the latest changes

Re-run vcs and rosdep when you pull the latest changes:

source /opt/ros/foxy/setup.bash
vcs import < gokart.foxy.repos
vcs pull < gokart.foxy.repos
rosdep install -i --from-paths src -y

Building

Use a building terminal window/tab:

source /opt/ros/foxy/setup.bash
colcon build --packages-up-to simulator

Run the simulation

Use a running terminal window/tab:

source install/setup.bash
ros2 launch simulator simulation.launch.py teleop:=key

See gokart-simulation/simulator for more all options.