DriverEnvironment

Please Read https://www.notion.so/crsucd/GitHub-Organization-1d88a3eca2f0808f9eacc3a7fbea26df?pvs=4 if developing for us to understand the branch mangement.

Set up

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Run only once to set up ROS on your environment:

cd misc
chmod +x ros2jazzyinstall.sh
./ros2jazzyinstall.sh

Ninja is optional but is faster then makefiles

Once you have clone the repo:

Check for ros2 symlink inside of ros2_ws/src (Check if files are there)

Check for Executive_Propulsion/Pi/CmakeLists.txt compile problem fixed.

Build/Compile

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Run from /ExecutiveMainLoop/scripts

chmod +x build.sh
./build.sh

or if you are plugged to a nuclear reactor and have 16 cores of gaming Make sure you Control-C once finished compling to exit out of the bash script for this option.

chmod +x buildQuick.sh
./buildQuick.sh

Run the ExecutiveMainLoop Functions

again run from /ExecutiveMainLoop/scripts

chmod +x startup.sh
./startup.sh

Manual Control/Python CLTool

from /ExecutiveMainLoop/scripts

chmod +x startupCL.sh
./startupCL.sh

follow the directions printed or read the code (lol what documentation?)

Note: In the Robot/Rasberry Pi, the startup.sh should run on startup, and the build files should already be built on the Pi 5.

Testing

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building for test:

colcon build --cmake-args -DBUILD_TESTING=ON

Run the test:

colcon test --packages-select executive_main_loop

Run with detailed test results:

colcon test --packages-select executive_main_loop --event-handlers console_direct+

To check test results:

colcon test-result --all

To see which test cases failed (if any):

colcon test-result --all --verbose

Tips

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If you encounter the following:

CMake Error: Error: generator Unix Makefiles
does not match with the generator used previously: Ninja

or vice versa, got to the root of the project, then:

rm -rf build/*

Then, rerun the build command.

WARNING:colcon.colcon_cmake.task.cmake.build:Could not run installation step for package 'InertialSenseSDK' because it has no 'install' target

The above error does not affect the final executable.

Non-existing Submodule Paths

If you encounter the following or something similar:

git submodule update --init --recursive --remote
fatal: No url found for submodule path 'lib/Propulsion' in .gitmodules

or any other submodule, do:

git rm lib/Propulsion

or the submodule path in question. Then do:

git submodule sync

And finally, try initing the submodules.

NOTES: