Setup instructions (for starting from scratch)

• If you don't already have the rest of this package on your machine, you can clone it from GitHub: GlowingScrewdriver/eYRC-2023_Cosmo_Logistic-cl2703
  (you will need access to the repository; currently, only the team and user eyantra have access rights)

• Build the package using colcon. For example: $ colcon build --symlink-install --packages-select cl2703

Note that this package, cl2703, is intended to be exposed as a Python module through Ament's package index; as such, these scripts import each other through that mechanism. For this reason, it is recommended that the entire package is built and installed using colcon.

Usage instructions

• Source the package's setup scripts: $ . install/setup.sh (from the same directory as the colcon build command)

• Make sure the controllers for eBot/Navigator2 and UR5/MoveIt are running.

• Turn off all magnets, start MoveIt servo and reset odometry and IMU: $ ros2 run cl2703 utils.sh start_run

• Place config.yaml in your current working directory.

• Run the task script: $ ros2 run cl2703 task.py

Important files

• scripts/flags.py: flags to control behaviour of task scripts
• scripts/task*.py: scripts for the different eYRC CL tasks

You can also find this file online