Setup

If you have any issues, please check the FAQ. If you cannot find your issue there, feel free to message me on Slack or Discord or ask the #software-challenge channel!

1. Setup ROS

• For this challenge, you must use ROS Melodic. It is recommended to install it on Ubuntu 18 either by dual-booting your system or using Windows Subsystem for Linux (WSL). Follow the steps here: http://wiki.ros.org/melodic/Installation/Ubuntu.

• The rest of this setup will assume you understand basic ROS. You can brush up by reading the tutorials here: http://wiki.ros.org/ROS/Tutorials

• Once you have ROS Melodic installed, install ROS Bridge by running

sudo apt install ros-melodic-rosbridge-server

2. Clone the Repo

• Fork and clone the latest version of this repo to wherever you would like inside your Ubuntu file system. You can delete the Unity folder as you won't need it.
• Test that the example workspace works by running catkin_make inside swc_ws
• Explore the example code in swc_ws and also the configuration options available in simulator.cfg and competition.cg

3. Download the simulator

• Download the latest release of the simulator here: https://github.com/SoonerRobotics/SCR-SWC-20/releases You should choose Windows if you are using WSL, otherwise choose Linux!
• Extract the zip wherever you would like. If you are using Ubuntu, run sudo chmod +x SCRSWC20.x86_64 to mark the simulator as an executable.
• Run the simulator. You will likely get an error saying that there was an error loading the config files. Change the root directory at the top of the simulator window to wherever the root of your cloned repo is. If you are using WSL, you can use the WSL UNC path. For example \\wsl$\Ubuntu-18.04\home\<user>\SCR-SWC-20 would work if you cloned the repo into your user directory.
• If it was able to read the config file, it should now say it is waiting for ROS Bridge

4. Running your code in the simulator

• To connect the simulator to your ROS code, all you have to do is launch the rosbridge_websocket along with your code. An example of this is the swc_example.launch launch file in swc_ws/swc_example/launch.
• As soon as you launch the rosbridge_websocket, the simulator will connect to ROS and the simulation should begin!