README

This repository contains the .devcontainer files for VSCode to build a Ubuntu 20.04 docker container with ROS 2 Foxy installed as part of the articu-project team project.

Versions

• OS: Ubuntu 20.04 (Focal)
• ROS: ROS 2 Foxy

Setup

git clone https://github.com/Formula-Student-AI/articu-project

1. Follow the setup guide if you need to set up Docker.

2. Build the packages

   colcon build --symlink-install
   

3. Source the overlay

   source install/setup.bash
   

4. Launch the world

   ros2 launch articubot_one launch_sim.launch.py world:=./src/articubot_one/worlds/obstacles.world
   

5. Put tennis ball in gazebo models paths

   sudo cp -r tennis_ball/ /usr/share/gazebo-11/models/
   

6. Open a new terminal, source the overlay again, and launch the ball tracker

   source install/setup.bash
   ros2 launch ball_tracker ball_tracker.launch.py params_file:=./src/articubot_one/config/ball_tracker_params_sim.yaml 
   

7. Now you can spawn in a tennis ball into the Gazebo sim and the robot will follow it! (To spawn in the tennis ball, you will need to add /articu-project to the path by going to Insert -> Add Path -> Computer -> '/' -> Choose 'articu-project'. Then you can insert the tennis ball as a model and move it around.).

Credit

• ijnek
• Josh Ewans