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Linux Setup

ROS2 Software must be run in Ubuntu Jammy (22.04). To enable everyone to implement their code without installing an entirely new operating system we will make use of Docker. This will create a Docker container on your computer that's running Ubuntu.

Linux Installation:​

Make a new directory for wuair code

mkdir ~/wuair
cd wuair

Clone the system repository

git clone https://github.com/WU-AI-Racing/wuair_system.git

Next enter the cloned directory

cd wuair_system

Docker set up​

Build the Docker compose image with

docker-compose up -d --build

Then run the container with

docker-compose exec humble bash

Running simulation​

After entering the docker image run source src/.rosbashrc.sh for useful aliases such as:

alias .r='source /opt/ros/humble/setup.bash'
alias .w='source /ros2_ws/install/setup.bash'
alias .ws='cd /ros2_ws'

# Build and clean
alias cb='cd /ros2_ws && colcon build'
alias cbc='cd /ros2_ws && rm -rf build install log && colcon build'
alias cl='cd /ros2_ws && rm -rf build install log'1

# List ROS environment info
alias envr='env | grep ROS'


# Shortcuts
alias ll='ls -lah --color=auto'
alias gs='git status'
alias gp='git pull'
alias gd='git diff'

# Run tmux if available
alias tm='tmux attach || tmux'

Now build the system

.r
colcon build --symlink-install
.w

or non-aliased commands:

source /opt/ros/humble/setup.bash
colcon build --symlink-install
source /ros2_ws/install/setup.bash

You should now be able to run the simulation with the following command.

ros2 launch eufs_launcher eufs_launcher.launch.py
Display error

If you are getting a display error you can run the following command: xhost +local:root

If you get the error environment variable 'EUFS_MASTER' does not exist run:

unset AMENT_PREFIX_PATH

export EUFS_MASTER=/ros2_ws/src/eufs_sim

source install/setup.bash

Developing in Docker​

Our system is set up with the src directory mounted from your local machine and the docker container. This allows you to make change to any repositories and code within them on your local machine in your IDE of choice (EX: VsCode) on your local computer and see those change live in the Docker container. After major changes you may need to rebuild the ROS workspace with:

colcon build --symlink-install

Cloning the stack​

To clone the our stack you can use the automated tool, vcstool. To get started you will need to set up an SSH key for github following this guide. With the SSH key you can now import each repository in the WUAIR stack and ensure they are up to date.

Move to the source directory and import the wuair.rosinstall file:

vcs import < wuair.rosinstall

All the packages should now be imported into your source file. Your only need to run this command once. To update packages after this importing them run:

vcs pull src

This will pull only the main branch of each repository.​

To test code in experimental branches the best approach we currently have found it this

  1. Delete the cloned repository you want work on. EX: rm -fr perception_pkg
  2. Clone the repository you want to work on EX: git clone git@github.com:WU-AI-Racing/wuair_system.git
  3. make change to that repository in your branch.

Runnning WUAIR stack​

Use the GUI launcher or launch individual nodes:

ros2 run wuair_launcher gui