Getting Started

Requirements

Local

The Explorer project uses ROS 2 Iron. To use this project locally, you need to have this version of ROS 2 installed.

You can find more information about this ROS 2 distribution and installation instructions at the following link: ROS 2 Iron Documentation.

Using Docker

If you prefer not to install ROS 2 Iron locally or want to avoid conflicts with other projects, you can use Docker to run this project inside a container.

For more information and installation instructions for Docker, visit this link: Docker Documentation.

Installation

Explorer’s project

Local

To install the Explorer project, visit this link: Explorer’s Git, and clone the Git repository.

git clone git@bitbucket.org:orthopusactuators/explorer_ws.git

To install all the libraries required to run the project, execute the following commands inside the cloned Git repository:

Then, build and source the project with these commands:

You can now go to the Software chapter and try running the different commands from Actuator, Explorer or Explorer on wheelchair .

Using Docker

To use docker, visit this link : Explorer’s Docker Git, and clone the Git repository.

git clone git@bitbucket.org:orthopusactuators/explorer_devenv.git

Once you’ve cloned the repository, navigate to the directory and run the setup_devenv.sh script. This script will create a src folder and pull the Explorer’s Git.

./setup_devenv.sh

In the explorer_ws repository, ensure you select the correct Git branch. Then, repeat the same operation for each submodule.

Next, build the Docker image by running the docker-build-iron.sh script.

./docker-build-iron.sh

You can now run the container using the following command:

./docker-run-explorer-iron.sh

Inside the container, run the build.sh script to install dependencies with rosdep and build the project using colcon.

./build.sh

You can now execute any commands from the Explorer project.

To save the Docker image for later use, open a new terminal on the host machine and run the following command:

docker commit ros-iron-explorer ros-iron-explorer:prebuilt

If you want to use your saved Docker image later, run the prebuilt Docker container using:

./docker-run-explorer-iron-prebuilt.sh

Inside the container, you will need to build the project again with colcon and source the setup file and project file:

colcon build
. source.sh

You can now execute any commands from the Explorer project.

VESC tool’s project

To use Docker, visit this link : VESC Docker Git, and clone the Git repository.

git clone git@bitbucket.org:orthopusactuators/vesc_devenv.git

In the cloned repository, run the setup_devenv.sh script. This script creates a src folder and pulls the Explorer Git repository.

./setup_devenv.sh

Next, build the Docker image by running the docker-build-vesc.sh script.

./docker-build-vesc.sh

You can now start the container using the following command:

./docker-run-vesc.sh

Inside the container, navigate to the vesc_tool folder and run the build_lin_original_only script:

./build_lin_original_only

Return to the src folder and execute the make_fw.sh script:

./make_fw.sh

Finally, in the VESC folder, you can run the container again if needed:

./docker-run-vesc.sh

Use Tmux

Tmux is a terminal multiplexer, it allows you to create several “pseudo terminals” from a single terminal. In our case it is really useful when using Docker.

To start using tmux, type tmux on your terminal. This command launches a tmux server and creates a default session with a single window.

tmux

You can, now, run any commands or programs as you normally would.

Tip

To split the current pane with a horizontal line : ctrl + b + "

Tip

To split the current pane with a vertical line : ctrl + b + %

Tip

To be able to use the mouse : ctrl + b + : and write set mouse on in the console

Tip

To copy-paste : hold shift and use the right click

Tip

To close a panel : write exit

Tip

To see more tips : https://tmuxcheatsheet.com/