5dpo / 5dpo_drivers_interfaces

ROS drivers interfaces (actions, messages, services)

5dpo_drivers_interfaces

This repository contains the ROS interfaces (actions, messages, services) required to communicate with the robot drivers of the 5dpo Robotics Team.

Robot Operating System (ROS)

ROS 1

• Ubuntu 20.04.6 LTS
• ROS Noetic

ROS 2

• Ubuntu 20.04.6 LTS
• ROS 2 Foxy

Dependencies

ROS 1

• message_generation
• message_runtime (runtime)

ROS 2

• builtin_interfaces
• rosidl_default_generators
• rosidl_default_runtime (runtime)

Usage

Compilation

ROS 1

# ROS 1 environment setup
source source /opt/ros/noetic/setup.bash

# Create workspace
mkdir -p ~/ros1_ws/src

# Clone the repository
cd ~/ros1_ws/src
git clone [e-mail]:5dpo/5dpo_drivers_interfaces.git

# Build
cd ~/ros1_ws
catkin_make
# OR catkin_make_isolated (more slow, build and check dependencies individually)
# OR catkin build (requires the Pyhton-based catkin tools)
source devel/setup.bash

ROS 2

# ROS 2 environment setup
source /opt/ros/foxy/setup.bash

# Create workspace
mkdir -p ~/ros2_ws/src

# Clone the repository
cd ~/ros2_ws/src
git clone [e-mail]:5dpo/5dpo_drivers_interfaces.git

# Build
cd ~/ros2_ws
colcon build
source install/setup.bash

Acknowledges

• Faculty of Engineering, University of Porto (FEUP)
• INESC TEC - Institute for Systems and Computer Engineering, Technology and Science

Contacts

If you have any questions or you want to know more about this work, please contact any member of the 5dpo Robotics Team.