Project istructions

To satisfy all python dependencies please follow the steps below:

1. Create virtual environment: python -m venv venv
2. activate it (on bash/Linux): source venv/bin/activate
3. Install packages: pip install -r requirements.txt

Task 1

To execute the task 1.1 and 1.2 run:

python exam_project/task1/main.py

Task 2.1

To execute the task 2.1 run:

python exam_project/task21/main.py 

Task 2.2

1. Open and login to foxglove

With a chromium based browser visit foxglove.dev or download from here the foxglove app. Once the login is done, click open connection..., and open the foxglove WebSocket URL ws://localhost:8765. In the top right, click on layout, then Import from file... and select the DAS-foxglove-layout.json file present in the root of the project

2. Build the Image (Linux only)

In the folder containing the dockerfile run:

docker compose build

In order to run GUI apps in the docker container on wayland systems run:

xhost +local:docker

3. Start the Container

docker compose up

4. Attach to a running container

In a new terminal run:

docker exec -it das_ros2 /bin/bash

5. Run the simulation

To run the task 2.2

ros2 launch task22 launch.py

To change parameters change the values of the PARAMETERS dictionary in the launch.py file inside the folder /exam_project/task22_ws/src/task22/launch_folder/ then a colcon build is required:

Inside exam_project/task22_ws, run:

colcon build && source install/setup.bash && ros2 launch task22 launch.py