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INTERACT-tud-amr / kinova_ros_interface

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Infrastructure Real Robot #2

Open maxspahn opened 2 months ago

maxspahn commented 2 months ago

Currently, the infrastructure relies heavily on the usage of dockers. That is perfect for local developments to compensate for different ubuntu/ros version on different local machines.

However, the core pipeline (motion planning, low-level control, ideally rudimentary task planning) should run on the dingo itself.

In order to not break the dingo-robot installation, a new user dinova is created. All packages related to the basic functionallity are one there using the main/master branch.

Developments are done in the user accounts on the dingo or on personal laptops of the responsible person, on a develop or feature branch. Once confident of an improvement, the changes are merged into the main branch and updated on the dinova user.

Everyone should be introduced to this concept, and users must be created.

maxspahn commented 2 months ago

It is mostly done, see new repo created by @TomasMerva, see https://github.com/INTERACT-tud-amr/dinova

It still needs to be deployed to the second dinova, and the dinova gazebo should be integrated.

maxspahn commented 2 months ago

The infrastructer is setup.

There is a 'dinova' user on both robots with a dinova_ws which is loaded at login by all users. This workspace is the place for stable packages, currently only dinova.

It must still be carefully documented in the wiki, and the two workspaces should be synced one last time, @TomasMerva