MAE148 / Spring 2024 / Team 03

Project

Our project had two goals:

1. Control an RC car type vehicle with hand signals.
2. Detect construction pallets and pick them up with a forklift-esque mechanism.

This repository contains all code necessary to achieve these goals.

Features

• Fully modularized: Can be installed onto any system with the appropriate prerequisites
• Includes all dependencies required for ROS2 development and testing using ROS2 Humble
• Automated, one line installation and setup, powered by Docker
• Ease of accessibility, powered by a custom Makefile

Prerequisites

1. Docker

   1. Install Docker using above link

   2. Ensure Docker is enabled to run on startup and added to the docker group. Restart your computer after running these commands:

      sudo systemctl enable docker.service
      sudo systemctl enable containerd.service
      sudo usermod -aG docker $USER

2. Make, which can be installed using sudo apt install build-essential on most Debian based systems.
3. Basic knowledge of container based applications, which you can read about here.

Setup

1. Clone this repo.

git clone https://github.com/ankbhatia19/MAE148-HandSignals.git

2. cd into the newly created folder. Run make.

Usage

cd inside the ROS2-Containerized folder (Where the Makefile and Dockerfile files are located). The Makefile provides a set of commands available for ease of accessibility.

• make: Enters the container, allowing you to run ROS2 commands.
  • If ROS2 has not been downloaded, installation is automatically started
  • Automatically creates container if a container has not yet been created
  • Creates a new bash terminal which is running inside the container.
• make clean: Stops currently running container.
• make status: Indicates whether the container is running or not.

Additional commands can be seen by running make help.

Running Project Nodes

• Launch the container using make. Navigate to workspaces/148_ws once inside the container.
• Source the necessary overlays using:

. /opt/ros/humble/setup.bash
. install/setup.bash

• Build the project:

colcon build

• And finally launch:

ros2 launch handsigs_bringup handsigs.launch.py

Contact

For questions about this project or otherwise, contact the developers on Discord using Discord ID Waycey.