PM Promoc_Assembly

A brief description of your project goes here.

Table of Contents

• Project Title
  • Installation
  • Usage
  • Testing
  • Contributing
  • License

Installation

1. Create a ROS2 Workspace

• Open a terminal and navigate to the directory where you want to create the ROS2 workspace.

• Run the following command to create a new ROS2 workspace:

  mkdir -p ros2_ws/src
  cd ros2_ws

2. Clone the Project Repository

• Inside the src directory of your ROS2 workspace, clone the project repository by running the following command:

  git clone <project_url>

3. Build the Project

• Open a new terminal and navigate to the root of your ROS2 workspace.

• Build the project with the following command:

  colcon build --symlink-install

• Depending on your ROS2 version, you may encounter an error during the build due to the service messages. For ROS2 Humble, you need to comment out the std_msgs import, while for ROS2 Jazzy, it is required.

4. Source the ROS2 Setup File

• After the build is complete, source the ROS2 setup file in the same terminal:

  • If you have configured it in your .bashrc, run:

    source .bashrc

  • Alternatively, source the workspace setup file directly:

    source ~/ros2_ws/install/setup.bash

Usage

How to Perform a Clean Build of Your ROS2 Workspace

• Open a new terminal and navigate to the root of your ROS2 workspace.

• To perform a clean build, remove the build, install, and log directories, which store built files and logs. Run the following commands:

  rm -rf build/ install/ log/

• After cleaning, rebuild the workspace with:

  colcon build

• Once the build is complete, remember to source the workspace again. For instructions, refer to step 4 in the Installation section.

How to use the specific Nodes

• To start the main node (e.g., mover_service_node), use the following command:

ros2 run planar_motor_nodes mover_service_node

• Once the node is running, you can send Service commands or monitor topics using tools like rqt or the ros_sequential_action_programmer. To run the ros_sequential_action_programmer, use:

ros2 run ros_sequential_action_programmer ros_sequential_action_programmer

How to use the Library Project at Home

• The Service Node includes a parameter called use_simulation_mode. When this parameter is set to True, the code will bypass sections that require a connected PMC (Planar Motor Controller). This allows you to compile and run your code without the PMC being physically connected, making it easier to test and develop in a simulated environment.

Testing

Instructions on how to run tests for your project.

Contributing

Please read CONTRIBUTING.md for details on our code of conduct, and the process for submitting pull requests to us.

License

This project is licensed under the MIT License.