Swerve Resources

The folders in this repo include setup scripts for installing all required/recommended softwares to work with the Swerve platform for new Linux installations, quick access and useful command line tools, and reference documents showing the way to properly document C++ and Python files for auto-documentation generation using Doxygen.

Table of Contents

• Before Setup
• Setup Workspace
• Command Line Tools
• Questions/Issues?
• Additional Information

Revisions List

Full Name	Email	Date	Revision	Description
Frederick Wachter	wachterfreddy@gmail.com	2017-09-27	0.0.0	Initial document
Frederick Wachter	wachterfreddy@gmail.com	2017-12-21	0.0.1	Updated documentation

Before Setup

Before setting up the Swerve ROS workspace, ROS needs to be installed on your system. To install ROS and related packages that are required to run Swerve, installation scripts have been made and are located in the installations folder. More informatio regarding the install can be found on the README located within the installations folder, but is the installation process is also described below.

To install ROS, open up terminal and run the command below to clone this repo.

git clone https://github.com/SwerveRoboticSystems/swerve_resources.git

Then go to the installations folder and run the commands below to install ROS. This will also install the relevant ROS packages that are needed to work with the Swerve ROS repository. Enter the version of the desired ROS distrubtion based on the version of Linux Ubuntu that you are running (assuming you are running Ubuntu). For more information on this, refer to the ROS distrobutions wiki page.

cd installations # if you did not do this yet, assuming in swerve_resources folder
bash ros_install.sh [version]

Replace [version] with the correct ROS version

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Setup Workspace

To download and setup the Swerve ROS workspace, run the commands shown below. This will download all the packages that are used by Swerve and then build the ROS workspace using catkin build. These commands will create the workspace folder within the directory the command is run in. Please refer below for more information on this.

git clone https://github.com/SwerveRoboticSystems/swerve_resources.git # if you did not do this yet
cd swerve_resources # wherever this folder is if it was already cloned
bash setup.sh

Running the commands above will create the following folder directory shown below in the directory that the commands were run in. The swerve_ws folder is the Swerve ROS repository that is automatically downloaded and build when running the setup script above.

• Swerve
  • swerve_resources
  • swerve_ws

Additional Installed Software

Running the commands above will also install the softwares shown below in the table.

Software	Description
Doxygen	Tool for auto-building documentation

Note: If there are any issues with the installation, please notify Frederick Wachter so that we can improve the installation file for future users.

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Command Line Tools

Below is a table of quick commands that are sourced by the terminal every time a new one is opened. These commands allow for faster development time by running various roslaunch files, changing directories quicker using a single command, and executing programs used by Swerve. These commands are not neccessary, but are very useful and easy to use on the command line. To use any of the commands, type them into a terminal window and they will perform the operations described in the table below.

These quick commands are aliases that are auto-sourced when the Swerve ROS workspace is setup using the setup script and the aliases file is located within this repo.

Note: Some of these commands require for additional software to be downloaded. To download all the software required to run all the comamnds, please download all the additional applications as described in the installations folder README.

Change Directory Commands

Command	Operation
swerve_dir	Change directory to the Swerve folder
swerve_ws	Change directory to the root of the Swerve ROS workspace
swerve_resources	Change directory to the Swerve Resources repository
swerve	Change directory to the Swerve ROS repository
sick	Change directory to the SICK TiM561 ROS repository

Run Applications

Command	Operation
bldc	Launches the BLDC-tool for working with the VESC's
vesc	Launches the VESC-tool for working with the VESC's
arduino	Launches Arduino IDE and Teensyduino
teensy	Launches Teensy Loader application
video_player	Launches banshee video player
video_recorder	Launches Vokoscreen screen recorder application

ROS Commands

Command	Operation
swerve_build	Catkin builds the ROS workspace
swerve_source	Sources the Swerve ROS workspace
create_package	Creates an empty ROS package*
get_tf	Get the current TF tree if Swerve has been loaded to the ROS paramter server

* Refer to the Create Paackage README

ROS Launch Commands

Command	Operation
swerve_gazebo	Brings up Swerve in Gazebo
swerve_control	Loads the Swerve controllers
swerve_display	Loads swerve into the ROS parameter server and shows Swerve through RViz
swerve_simple_demo	Brings the full Swerve platform into Gazebo and moves Swerve

Additional ROS launch commands including optional parameters are described in the Additional Information section below

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Questions?

If you have any questions, please feel free to contact Frederick Wachter. His icontact information is below. Please also email Frederick if there was any issues with the installation scripts and information from this README in order to continually improve the install process.

Name	Email
Frederick Wachter	wachterfreddy@gmail.com

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Additional Information

More information regarding the conects of this repositroy can be found in the README's in each of the folders included in this repo.

ROS Launch Additional Commands

TODO

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