ROS Index
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Repository Summary
| Checkout URI | https://github.com/robojackets/urc-software.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2025-04-01 |
| Dev Status | UNMAINTAINED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
| Name | Version |
|---|---|
| leo_description | 1.2.3 |
| urc_arm | 0.0.0 |
| urc_arm_moveit_config | 0.3.0 |
| urc_bringup | 0.0.0 |
| urc_bt | 0.0.0 |
| urc_bt_nodes | 0.0.0 |
| urc_controllers | 0.0.0 |
| urc_gazebo | 0.0.0 |
| urc_hw | 0.0.0 |
| urc_hw_description | 0.0.0 |
| urc_localization | 0.0.0 |
| urc_msgs | 0.0.0 |
| urc_nanopb | 0.0.0 |
| path_planning | 0.0.0 |
| trajectory_following | 0.0.0 |
| urc_orchestrator | 0.0.0 |
| urc_perception | 0.0.0 |
| urc_platform | 0.0.0 |
| walli_arm_moveit_config | 0.3.0 |
README
urc-software 
Welcome to the RoboJackets/RoboNav software repo for the University Rover Challenge (URC)! This document will give you a brief description of the repo’s layout and an overview of the repo.
Directory Structure
- .github CI pipeline and PR/issue templates
- cmake CMake files to aid with building
- documents Research, design, and documentation
- external Where all our submodules are located
- urc_arm_moveit_config Moveit config folder for rover arm
- urc_bringup Location of the universal launch file + heartbeat node
- urc_controllers ros2-control controllers
- urc_gazebo Helper nodes used for simulation purposes
- urc_hw ros2-control hardware interface
- urc_hw_description URDF description for the rover
- urc_manipulation Collection of nodes used for the robotic arm
- urc_nanopb nanopb related files and settings
- urc_msgs Custom ROS messages used in various packages
- urc_platform Manages our nanopb protocol buffers
- urc_navigation Collection of nodes that form our navigation stack
- urc_perception Collection of nodes that form our perception stack
- urc_platform Nodes that are platform specific and used to communicate with the hardware, ie. IMU, joystick and motor controller
Installation Instructions
Essential
You will need to be using Ubuntu 22.04 to run ROS2. This can be accomplished with any of the following methods:
- Ubuntu 22.04: Native Installation or WSL (Windows/Linux) Strongly recommended!
- NoVNC Docker Installation Instructions (Mac/Windows/Linux) Less viable, use for Apple Silicon
Specific Features
- XBox Controller Setup
- Depth Camera Setup
- ROS2 Control Gazebo Setup
- Radio Communication Between Rover and Ground Station
Helpful Resources
- Useful Commands: ROS2 Commands, Git Commands
- Design Presentation Requirements
- Drone Repository
- Firmware Repository
Team-Related Links
External Documentation and Background Reading
Common Issues
NanoPB Not Building
Fix (will only build after the last time):
colcon build --symlink-install ; chmod +x build/urc_nanopb/nanopb/generator/protoc-gen-nanopb
colcon build --symlink-install ; chmod +x build/urc_nanopb/nanopb/generator/nanopb_generator.py
colcon build --symlink-install
CONTRIBUTING
No CONTRIBUTING.md found.
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