ROS 2 jetson workspace

This repo is for the code that will be deployed to the Jetson board. It is a ROS 2 foxy workspace.

Getting Started

Requirements

For Developers:

• Ubuntu 20.04 (You can use your laptop, a VM, or a cloud provider such as AWS)
• [GitHub SSH key for your laptop/workspace

Installation

Clone the repo and checkout to the ROS 2 branch with the commands below:

git clone --recurse-submodules [email protected]:UBCAgroBot/jetson-ros-workspace.git
git checkout ros2-workspace

To install ros2, follow this page from the ROS 2 docs.

Also, make sure to complete Beginner CLI Tools and Beginner Client Libraries since they cover important fundamentals of ROS 2 and also guide you with setting up your environment and the installation of colcon and rqt.

Docs

• Navigation

Troubleshooting

• If you see a similar error when running colcon build error:

  •   /usr/lib/python3.10/site-packages/setuptools/command/install.py:34: SetuptoolsDeprecationWarning: setup.py install is deprecated. Use build and pip and other standards-based tools.
    

  • run pip install setuptools==58.2.0 (source)

• If you see any import errors for the modules when using PyCharm or VS Code follow this to inform the location of the modules to your IDE.

Contribution

Please contribute to the project according to the GitHub contribution guidelines outlined below.

GitHub Contribution Guidelines

Please create a new branch from the latest version of the main branch for your contribution. Create one branch for each feature/fix. After you finish writing and testing your feature/fix, open a pull request to merge your branch with the main. Please write meaningful comments to your commits and pull requests.

How to Branch

git checkout main

git pull

git checkout -b <new_branch_name> main

Naming your branch

Please name your branch as <subteam-initial>/<your-name>/<short-description-of-feature-or-fix>

For <subteam-initial>, use n for navigation, i for image recognition, e for extermination, c for chassis.

How to open a pull request

• Open the branch page on GitHub.
• Use the contribute button to open a PR (pull request).
• Your code is ready to be reviewed and merged. Great work!