IEEE2015

This is the code for the University of Florida's 2015 IEEE Robot. You need Ubuntu 14.04, and ROS Indigo. For some installation instructions, see github.com/uf-mil/getting_started

Getting started

All of this is written for Ubuntu 14.04 (Trusty Tahr) and ROS Indigo (ros.org/install) - get the desktop-full version.

First, follow this tutorial for setting up git. Then follow the first three ROS tutorials, and make your catkin workspace.

Once you make your catkin workspace (the ROS tutorials will teach you how to do this), go to the src folder, and clone this repository

cd ~/catkin_ws/src

git clone [email protected]:ufieeehw/IEEE2015.git

catkin_make ~/catkin_ws

Your directory structure should like like "~/catkin_ws/src/IEEE2015/ros/"

Simulators

To use the 2D Simulators/Visualizers, you need pygame sudo apt-get install python-pygame

If you want to use the 3D simulator, you need some Gazebo packages

sudo apt-get install ros-indigo-gazebo-ros-pkgs ros-indigo-ros-control ros-indigo-ros-controllers

Install Pre-Requisites

To get everything without any effort, do: sudo apt-get install aptitude

sudo aptitude install python-pygame ros-indigo-gazebo-ros-pkgs ros-indigo-ros-control ros-indigo-ros-controllers ros-indigo-gazebo-ros-control then run catkin_make -C ~/catkin_ws

Git Best Practices

• When you commit something, the message should be of format "TOPIC: Verb action" - ex: "VISION: Add etch-a-sketch detection". This is important so that we can see a chronological list of commits and know what has caused changes

• Please include a readme.md with any new package. It should describe:

  • The topics it publishes to and listens to
  • A brief explanation of what the package does

• Commit ROS-ready code to the ROS directory under the appropriate package

• Commit non-ROS-ready code to the python, XMega or cpp directory as appropriate

• Only commit non-text files (Like pictures, 3D models, etc) if they are necessary to run or test your code!

• Commit everything, even if it's unfinished! The value of git is being able to track progress and see your code history

Th-th-th-that's all folks!

Coding Practices

• Simplicity is more important than speed

• Reliability and accuracy are more important than speed

• Uncommented code is as good as an empty file

• Use the metric units! Don't use imperial! No imperial!

• When publishing and subscribing to measured topics, ALWAYS SPECIFY UNITS AND A REFERENCE FRAME!

• Indent with 4 spaces