PAI's project

Code and documentation for a UGV that can work and be teleoperated in a field.

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📝Table of contents

• 📌About The Project
  • Built With
• 🏁Getting Started
  • Prerequisites
  • Installation
  • GitHub Codespace
• 🎈Usage
• 🔑License
• ✏️Authors
• 🎉Acknowledgments

📌About The Project

Welcome to the PAI ROS 1 package repository! This package contains source code and documentation for a UGV that can work in a field. This project is part of the PAI subject at the Universidad Nacional de Colombia.

Note: This package is being developed using ROS noetic

Built With

• 
• 
• 

🏁Getting Started

This is an example of how you may give instructions on setting up your project locally. To get a local copy up and running follow these simple example steps.

Prerequisites

In order to avoid installing ROS on your local machine, we will be using a docker image to run ROS. So, you will just need to install Docker in your local machine.

Installation

1. Clone the repo

   git clone https://github.com/cychitivav/pai.git

2. Build the docker image

   docker build -t pai:latest .

3. Run the docker image

   docker run -it \
    		   --rm \
   		   -v /tmp/.X11-unix:/tmp/.X11-unix:rw \
              -v $PWD:/root/catkin_ws/src/pai \
   		   --name pai \
   		   pai:latest

   Note: If you have troubles with the display, try to run the following command before running the docker image:

   xhost +local:root

GitHub Codespace

Codespaces add an easy way to start contributing to this project. Some extra step are needed to run the visualization in a remote machine. You need to create a GitHub Codespace:

1. To create a Codespace, click on the following button:

   

2. Choose the configuration that best suits you (A high performance configuration is recommended)

3. Wait for the Codespace to be created and set up (It will appear a terminal which is running some scripts)

4. Set a password for the root user

   passwd

From your local machine, you will need to run the following command:

gh cs ssh -- -XY

Note: You need to have the GitHub CLI installed in your local machine.

Then, select the Codespace that you want to connect to and enter the password that you set before.

🎈Usage

In order to run the package, you will need to follow the next steps from the workspace directory (by default, ~\catkin_ws):

1. Compile packages

catkin build

1. Source the workspace

source devel/setup.bash

1. Launch the package

roslaunch pai view_robot.launch

🔑License

Distributed under the MIT License. See LICENSE for more information.

✏️Authors

• @cychitivav
• @jsduenass
• @juvallejom
• @Canborda
• @Camilo96A
• @jodiazro

🎉Acknowledgments

• Thanks to the SIMA student group who help out supporting this project.

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