> For the complete documentation index, see [llms.txt](https://ceri-num.gitbook.io/uv-larm/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://ceri-num.gitbook.io/uv-larm/challenge/kick-off.md). # Kick-off The challenge aims at making learners develop a first robotic project. In the end, both the execution of the proposed solution and the source code with documentation will be evaluated. The main objectives of the project consist of: * Control a robot in a cluttered environment * Map a static environment * Detect all the **Nuka-Cola** bottles * Estimate the position of all the **Nuka-Cola** in the map * Optimize the exploration strategy ![](https://cdn.myminifactory.com/assets/object-assets/579fca2a374fc/images/720X720-7a4418213f3ce580bb21f641c36650bd5eb8cdb3.jpg) Challenges are proposed to increase sequentially the complexity of the expected solution, but first the students have to structure their developping environment... ## Create a group As a first move, you have to constitute a group of 2 developers. Record the created group on a shared document: [2023-2024 groups](https://partage.imt.fr/index.php/s/CJgSK6W8izdZKDi). * Create on items in the enumerate list per groups * Record the name of the machine you use and the names of each member of the group. * The number of the line matches the number identifying a group starting from $1.$. The group gets a unique number it can use as `ROS_DOMAIN_ID`. ## Generate a working environment We ask each group to use `git` and share their work with professors through [github](https://github.com/) (because it is the reference) (or [gitlab](https://gitlab.com) at the student request, because it is open). Git is a versioning program working in a distributed way. "Git is software for tracking changes in any set of files, usually used for coordinating work among programmers collaboratively developing source code during software development." [Wikipedia-2021-12-6](https://en.wikipedia.org/wiki/Git). * Official web site: [git-scm.com](https://git-scm.com/) * git basics: [in video](https://git-scm.com/videos) Potentially the developers can share some of the versions there developed (or all) by installing an extra `git` on a shared server. `github` is certainly the most famous web git-solution (but you can install for instance a web application as `gitlab` on your own server for instance). To notice that `gitlab` is both an open solution you can deploy on your own server and a web-service (`gitlab.com`) you can use. For this lecture, you will use `github` or `gitlab.com`, no other solution would be accepted. * (Each of the developers) Create a github account. * (One of the developers) Create a new repository on `github` and invite your teammate. Choose a name referring the group (for instance `uvlarm-machinename`), the idea is to propose a repository name clear but different from a group to another. * (Each of the developers) Clone locally. In a termal: ```sh cd mb6-space git clone https://my.github.url/uvlarm-machinename.git ``` * (One of the developers) Invite the professor (or set your repository public) - github account: lozenguez LucFabresse bouraqadi SebAmb * (One of the developers) Reccord the url in the shared document: (2023-2024 groups). You can then, work with visual studio code. By opening a the project `uv-larm-machinename`, *VSCode* will recognise the git repository (i.e. the presence of hiden `.git` directory). *VSCode* is also capable of managing a secure connection between your machine and github. ```sh code uv-larm-machinename ``` Optionaly, you can configure `ssh` access: ### Initialize: Your repository has to match a meta **ROS-package** (i.e. a directory composed by other directories each of them matching a ros-package). The repository would be cloned aside of the larm packages (`pkg-tbot`). So clone your repository in the ros workspace `mb6-space` and then create as many packages you want inside. ```console cd ~/mb6-space git clone github/uvlarm-machinename.git ``` (One of the developers) Initialize a `README.md` file in Mardown at least with a simple tittle and refering the developers (cf. [Markdown syntax](https://fr.wikipedia.org/wiki/Markdown)): ```sh echo "# grp-`machinename` repository for the UV-LARM" > README.md git add README.md ``` It is possible then to push on the server your first commit. One commit refer to one version of your project, you can (must) generate has versions has you want. A commit do not have to serve a functional version of your works. It could be transitive commit. And most importantly git is capable to re-generate any of your commits, so do not hesitate to commit continuously... ```console git commit -am "Initialize README file" git pull git push ``` All the other developers can now `pull` the new version (typically, in the Develter computers).... ### New package: Then you can go inside your repository and create a new ros package: ```console cd larm-machinename ros2 pkg create ... # cf. package tutorial ``` A new directory `my_amasing_pkg` appears: The `git status` command informs you that this package is not followed by `git`. Let correct that. ```console git add my_amasing_pkg git commit -am "Initializing my_amasing_pkg" ``` Strange, nothing changes on my `github` repo. The git repo on `github` is a different entity than the one on your computer. You have to manually synchronize then when you want to share your work with the command `pull` and `push`. Try-it. Now you can `commit`, `pull`, `push` as often as possible (and `add` if you have some new files...). ## Build your package On a fresh machine, you can clone then build your new ros-package: ```console mkdir mysuper_ros_workspace cd mysuper_ros_workspace mkdir src git clone github/repo.git src/grp-color colcon build ``` To notice that `colconn build` have to be performed from your workspace directory (`mysuper_ros_workspace` in this example, `mb6-space` in this courses aside of *tbot* and *tsim* packages).