Rover 2.0 Core OS

Developers Start Here

Looking to get started developing for the NIU Mars Rover Team? Check out the wiki to find our Getting Started Guide!

Working With RoverCoreOS

Before you can run RoverCoreOS, you'll need to set up Robotic Operating System (ROS) Development Environment. Check here to learn how to set one up.

Structure and Topography

• assets: images and other auxiliary files
• config: configuration files for packages used by the Rover, including the Navigation Stack
• launch: launch files to run various aspects of the Rovers functionality, in part or in whole. For usage instructions, see the "Running" section below
• nodes: individual Python or C++ files that encapsulate important aspects of the Rovers code
• rviz: configuration files for displaying UI tools using Rviz
• urdf: model files for visualizing the Rover

Downloading & Installing Rover Core OS

You can grab the source code from this repository using git: git clone https://github.com/NIURoverTeam/RoverCoreOS. Make sure you clone it into your catkin workspace's src directory (if you setup everything according to the ROS tutorial, probably ~/catkin_ws/src). Any development should be done on a branch distinct from master with working code being merged in via pull requests.

Install Dependencies

1. sudo apt-get install ros-melodic-navigation
2. Run cd ~/catkin_ws && rosdep install --from-paths src --ignore-src -r -y
3. Install the Realsense SDK 2.0
4. Install the Realsense ROS Wrapper.
   1. Note: use catkin_make install --pkg realsense2_description realsense2_camera instead of catkin_make install

Running

You can get Rover 2.0 up and running using roslaunch.

First, run roscore in a separate terminal. Next run one of the following:

• roslaunch rover_core_os display_rover.launch: displays the URDF model of the Rover in Rviz
• roslaunch rover_core_os start_rover.launch: launch file to run on the Rover itself
• roslaunch rover_core_os control_center.launch: starts the base station to remotely control the Rover
• roslaunch rover_core_os mapping.launch: launch file wrapping the mapping functionality of the Rover, meant to be called in either the Rover or Control Center launch files, but can be called separately for troubleshooting purposes.

Getting in Touch

Interested in joining, want to sponsor or contribute, or have questions? Here's some ways you can reach out or find out more about us:

• NIURover@gmail.com
• Our site
• Facebook
• NIU CEET Student Organization Page