cs378_starter

Using this Repo

You will be using a copy of this repo for all development in the class. This repo provides starter code for the ROS subscriptions, publishers and control loops you will be using. Note that for the purposes of this course, this repository depends upon the ut_automata repository found here: https://github.com/ut-amrl/ut_automata.

Please follow the instructions in the UT AUTOmata reference manual before continuing.

Duplicate the Repo

1. Make sure you're logged into your GitHub account.
2. Create a new repo with the same name under your GitHub account. Don't initialize that with anything, and ensure that it is a private repository.
3. git clone <this repository url> (found in the upper right)
4. cd <cloned_repo>
5. git push --mirror <your new repository url>

Build the Repo

1. Make sure you are in the home directory of the repository.
2. Make sure you have added the path to the cloned directory in your ~/.profile.
3. make -j

Optional: Building/Running with Docker

1. Make sure you have Docker installed and set up.
2. Make sure you are in the root directory of the repository.
3. Run make docker_all to just compile.
4. You can run make docker_shell to get a shell within the Docker container. The shell will automatically launch roscore and the ut_automata websocket and simulator inside of a tmux session. Inside the shell, you can compile and run your navigation code and connect using localhost in the web visualization.

For debugging purposes, you can look at the tmux processes at any time by attaching to the session: tmux a -t ROS. For more information about tmux, refer to the tmux documentation 5. To shutdown the docker container, run make docker_stop