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Mars Rover Project software development

This is a repository containing all the ROS packages needed for the physical rover as well as the simulations. Each package contains a README file that explains the package architecture as well as details pertaining to messages, functions, and so on. After you follow this README, make sure to check the individual package README's for clarification.

Getting Started

To get started, start by setting up your work environment by following the Work Environment Setup page in the Wiki section. Next, complete the ROS and Git tutorials also found in the Wiki section.

Finally, clone the repository by running git clone https://github.com/mcgill-robotics/rover in a folder called src (e.g., create a catkin_ws folder in Documents and clone the repo in Documents/catkin_ws/src/) and build the catkin workspace by running catkin build in your catkin workspace.

Running the System on the Rover Computer (Updated May 19 2024)

Follow these steps to run the Drive, Cameras, and UI systems:

  1. ssh to Jetson through McGill wifi or antenna link by running ssh rover@JETSON_IP and entering the Jetson User's password (ask a lead for that). The JESTON_IP through the antenna link is 192.168.1.69. The Jetson IP address through McGill wifi is not static, you will need to obtain it by running ifconfig on the Jetson directly.
  2. Ensure the code version is the one you want to test. To pull latest changes, run git pull in the rover folder repo ~/catkin_ws2/src/rover/.
  3. Build the project by running catkin build in ~/catkin_ws2/. This step can be skipped if you already built the project code.
  4. To start the Drive, Cameras, and UI systems, source devel/setup.bash then run roslaunch rover_system rover_robot_odrive.launch. Note that the rover should be picked up at this point so that the ODrives correctly calibrate.
  5. Access the UI page at http://JETSON_IP:8080.
  6. To drive, plug a controller to the computer and press on On in the Drive UI widget.

Running Rover Simulation

  • Raw sim: run roslaunch rover_gazebo rover.launch.