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UrbanFireRobot

RBECapstone

Overview

This repository contains the code and resources for the UrbanFireRobot project, developed as part of the RBECapstone. The project utilizes ROS 2 Jammy for robotic control and simulation.

Setup Instructions

More information of jackal intergration see https://docs.clearpathrobotics.com/docs/ros1noetic/robots/outdoor_robots/jackal/tutorials_jackal/

Using Docker

To set up the ROS 2 Jammy environment using Docker, follow these steps:

  1. Clone the repository:

    git clone https://github.com/yourusername/UrbanFireRobot.git
cd UrbanFireRobot

  2. Build and run the Docker container:

    docker-compose up --build

This will build the Docker image and start a container with the ROS 2 Jammy environment. The ros2_ws folder in the repository will be mounted into the container at /root/ros2_ws.

Native Linux Setup

To set up the ROS 2 Jammy environment natively on a Linux machine, follow these steps:

  1. Clone the repository:

    git clone https://github.com/yourusername/UrbanFireRobot.git
cd UrbanFireRobot

  2. Run the setup script:

    chmod +x setup.sh
./setup.sh

This script will install ROS 2 Jammy and set up the workspace in ~/ros2_ws.

Workspace Structure

  • ros2_ws: The ROS 2 workspace where all packages and code for the project are located.

Running the simulation

After building you also need to source the workspace setup.bash: source install/setup.bash

To indicate the path to the built models also do: export IGN_GAZEBO_RESOURCE_PATH=$IGN_GAZEBO_RESOURCE_PATH:~/ros2_ws/install/warehouse_simulation/share/warehouse_simulation/models

To add the camera sensors to the model also do the following: export JACKAL_URDF_EXTRAS=~/ros2_ws/src/warehouse_simulation/description/camera.xacro

To start gazebo and the simulation run the command roslaunch warehouse_simulation warehouse_simulation.launch

Contributing

Please follow the standard GitHub flow for contributing:

  1. Fork the repository.
  2. Create a new branch (git checkout -b feature-branch).
  3. Make your changes.
  4. Commit your changes (git commit -am 'Add new feature').
  5. Push to the branch (git push origin feature-branch).
  6. Create a new Pull Request.

License

This project is licensed under the MIT License - see the LICENSE file for details.