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The EZ-RASSOR (EZ Regolith Advanced Surface Systems Operations Robot) is an inexpensive, autonomous, regolith-mining robot designed to mimic the look and abilities of NASA’s RASSOR on a smaller scale. The primary goal of the EZ-RASSOR is to provide a demonstration robot for visitors at the Kennedy Space Center. The EZ-RASSOR can:
For more information, our wiki_ contains a high-level overview of the EZ-RASSOR and its many components.
POTENTIAL CONTRIBUTORS: check out the contributing guidelines and the license.
ROS Melodic_Python 2.7_Pip_rosdep_build-essential_First, clone this repository with git.
.. code-block:: bash
git clone https://github.com/FlaSpaceInst/EZ-RASSOR.git
cd EZ-RASSOR Then, let the develop.sh script do the heavy lifting! On Ubuntu Xenial or Ubuntu Bionic, creating a catkin workspace and building all packages is achieved with these commands:
.. code-block:: bash
sh develop.sh setup sh develop.sh link sh develop.sh resolve sh develop.sh build sh develop.sh install RESTART TERMINAL
If you encounter Sub-process /usr/bin/dpkg returned an error code..., try to fix the broken install with the following command, then rerun the original command:
.. code-block:: bash
sudo apt --fix-broken install RERUN ORIGINAL COMMAND
Everything's installed now! Proceed to the usage_ section.
If you want to install specific EZ-RASSOR packages, you can use the same develop.sh script:
Make sure you have already run the setup command at least once:
.. code-block:: bash
sh develop.sh setup
Then, you can call the relink function and use -o to pass in the package name(s) you would like to install:
.. code-block:: bash
sh develop.sh relink -o ezrassor_sim_control ezrassor_sim_description ezrassor_sim_gazebo sh develop.sh build sh develop.sh install
Alternatively, you can also call the relink function and use the -e flag to make the script install all but the specified package(s):
.. code-block:: bash
sh develop.sh relink -e ezrassor_swarm_control
The EZ-RASSOR is controlled via a collection of launch files. These files contain lists of commands that start up the robot's systems and the simulation environment. They are read, understood, and executed by a core ROS utility called roslaunch, whose general syntax is as follows:
.. code-block:: bash
roslaunch
Each launch file is located in one of our packages, and the most important launch files are located in the ezrassor_launcher package. To learn more about a specific launch file, visit that launch file's package's wiki_ page (via the navigation menu on the right). Here are some example commands that show launch files in action:
.. code-block:: bash
roslaunch ezrassor_launcher configurable_simulation.launch control_methods:=app
roslaunch ezrassor_launcher configurable_simulation.launch control_methods:=autonomy
roslaunch ezrassor_launcher configurable_simulation.launch \ control_methods:=gamepad \ world:=moon \ robot_count:=2 \ joysticks:="0 1" \ spawn_x_coords:="-1 1" \ spawn_y_coords:="1 -1"
roslaunch ezrassor_launcher configurable_communication.launch control_methods:="app gamepad autonomy"
Please read the wiki page for the ezrassor_launcher_ to learn more about what the main launch files can do.
EZ-RASSOR 1.0 Team
Sean Rapp_Ron Marrero_Tiger Sachse_Tyler Duncan_Samuel Lewis_Harrison Black_Camilo Lozano_Chris Taliaferro_Cameron Taylor_Lucas Gonzalez_EZ-RASSOR 2.0 (GPS-Denied Autonomous Navigation) Team
Jordan Albury_Shelby Basco_John Hacker_Michael Jimenez_Scott Scalera_EZ-RASSOR 2.0 (Swarm Control & Management) Team
Daniel Silva_Chin Winn_Martin Power_Daniel Simoes_Autumn Esponda_EZ-RASSOR 3.0 (Swarm Build Pad) Team
Hung Nguyen_Coy Torreblanca_Stanley Minervini_Richard Malcolm_Camry Artalona_.. |build badge| image:: https://github.com/FlaSpaceInst/EZ-RASSOR/workflows/Build/badge.svg
:target: https://github.com/FlaSpaceInst/EZ-RASSOR/actions
.. |style badge| image:: https://img.shields.io/badge/Code%20Style-black-000000.svg
:target: https://github.com/psf/black
.. wiki: https://github.com/FlaSpaceInst/EZ-RASSOR/wiki
.. contributing guidelines: CONTRIBUTING.rst
.. license: LICENSE.txt
.. usage: README.rst#Usage
.. _wiki page for the ezrassor_launcher: https://github.com/FlaSpaceInst/EZ-RASSOR/wiki/ezrassor_launcher
.. Sean Rapp: https://github.com/shintoo
.. Ron Marrero : https://github.com/CSharpRon
.. Tiger Sachse : https://github.com/tgsachse
.. Tyler Duncan : https://github.com/Tduncan13
.. Samuel Lewis : https://github.com/BrainfreezeFL
.. Harrison Black : https://github.com/HarrisonWBlack
.. Camilo Lozano : https://github.com/camilozano
.. Chris Taliaferro : https://github.com/Hansuto
.. Cameron Taylor : https://github.com/CameronTaylorFL
.. Lucas Gonzalez : https://github.com/gonzalezL
.. Jordan Albury : https://github.com/jalbury
.. Shelby Basco : https://github.com/blicogam
.. John Hacker : https://github.com/JHacker997
.. Michael Jimenez : https://github.com/Mjimenez01
.. Scott Scalera : https://github.com/ScottCarL
.. Daniel Silva : https://github.com/danielzgsilva
.. Chin Winn : https://github.com/wchinny
.. Martin Power : https://github.com/martinpower
.. Daniel Simoes : https://github.com/RuptorT
.. Autumn Esponda : https://github.com/autumnesponda
.. Hung Nguyen : https://github.com/hungjn
.. Coy Torreblanca : https://github.com/Coy-Torreblanca
.. Stanley Minervini : https://github.com/StanleyMine
.. Richard Malcolm : https://github.com/RichardMalcolm-CS
.. Camry Artalona : https://github.com/cmryArt
.. ROS Melodic : http://wiki.ros.org/melodic/Installation/Ubuntu
.. Python 2.7 : https://www.python.org/download/releases/2.7/
.. Pip : https://pip.pypa.io/en/stable/installing/
.. rosdep : http://wiki.ros.org/rosdep
.. build-essential : https://packages.ubuntu.com/bionic/build-essential
Please include the following citation when using EZRASSOR for a paper:
.. code-block:: bibtex
@misc{ezrassor_2021,
author = {EZRASSOR Team},
title = {EZRASSOR},
year = {2021},
publisher = {GitHub},
journal = {GitHub repository},
howpublished = {\url{https://github.com/FlaSpaceInst/EZ-RASSOR}}
}