Source code for Protobot. This directory is currently using ROS 1 (Melodic) tentatively

Dependencies

Install librealsense2 with dev and dbg distribution included https://github.com/IntelRealSense/librealsense/blob/master/doc/distribution_linux.md#installing-the-packages
Also ensure that you have the following(Install with sudo apt-get install):
- libpcl-dev
- libeigen3-dev
- ros-melodic-costmap2d
- ros-melodic-ddynamic-reconfigure
- ros-melodic-move-base
- ros-melodic-rtabmap-ros
- ros-melodic-rtcm-msgs
- ros-melodic-smach

Setup

Go to src/ and run git submodule update --init --recursive
Go back to the root directory and run rosdep init and then rosdep install --from-paths src --ignore-src -r -y
Build your project using catkin_make -DCMAKE_BUILD_TYPE=Release
It is recommended to automatically source the project inside of your ~/.bashrc file. Put the following at the end of ~/.bashrc: source <cloned directory root path>/devel/setup.sh

To run simulation

Source project at root directory using . devel/setup.sh when first opening the shell. If you don't want to do this everytime, refer to #4
To launch, roslaunch protobot_bringup protobot_simulation.launch

To run on live rover (Soon)

On live rover, ssh into it and run roslaunch protobot_bringup protobot_onboard.launch (Autonomous) OR roslaunch protobot_bringup protobot_teleop.launch (Teleop)
On properly configured laptop (with correct ROS_IP and ROS_MASTER_URI pointing to own local IPv4 address and rover's local IPv4 address respectively), run roslaunch protobot_bringup protobot_remote.launch (Autonomous) OR roslaunch protobot_bringup protobot_remote_teleop.launch (Teleop)