Polaris Source Code

All the code related to the operation of the polaris 2019 AUVIC submarine

Setting up your Environment

The 2 major necessary components needed to develop, build, and execute the project are:

• Ubuntu 16.04 Operating System
• ROS Kinetic

Due to ROS not supporting the later Ubuntu 18.04 OS, it is currently necessary to develop on 16.04 to ensure a uniform environment.

Ubuntu 16.04

There are several scenarios that a developer can fall under when setting up the necessary environment:

1. Ubuntu 16.04 OS already installed: No necessary actions needed

2. Another Unix-like OS installed (e.g Debian, Ubuntu...) that is not Ubuntu 16.04: Either install an Ubuntu 16.04 VM, or create an Ubuntu 16.04 docker container

3. A Windows OS installed: Either install an Ubuntu 16.04 VM, install Docker for Windows Pro (Home version not supported) to run an Ubuntu 16.04 container, or install dual-boot.

ROS Kinetic

Installation instructions are located on ROS's website

Note: To minimize the risk of dealing with missing apt packages, ensure that ros-kinetic-desktop-full is installed on your environment

Building

Docker

1. If you are not already running Ubuntu 16.04 (Xenial Xerius), then make sure docker is installed on your system. This is easiest on Linux and MacOS (Windows Home is a pain to install docker on).

2. Use the docker_make.sh script to build the Polaris submarine system in the docker virtual machine.

3. Use the docker scripts to ensure the images are up to date, if unsure use the last script.

   1. Use the docker_make.sh script to build the submarine system.
   2. Use the docker_run.sh script to start the submarine system.
   3. Use the docker_shell.sh script to start the docker containers interactive mode (your terminal will be occupied by the docker containers terminal). This script can also be used to invoke the commands in the previous two images.

Ubuntu 16.04 (Traditional)

1. Create a fork of the polaris repo and clone it in your ubuntu workspace git clone https://github.com/yourusername/polaris.git.

2. If you have not already installed ROS, then navigate to the configuration folder by cd configuration and execute the setup script with ./setup.sh. This can only be done with an administrator account.

3. If you have already installed ROS, please install the extra packages needed to build Polaris by navigating to the configuration folder by cd configuration and execute the install script with ./common-packages.sh. This can only be done with an administrator account.

4. Navigate to polaris/ros and execute the environment variables script with ./env.sh.

5. Close the terminal window and open a new one. To ensure ROS has properly installed, run the command roscore. If successful roscore will launch.

6. If successful, navigate to the polaris/ros directory and run the command catkin_make.

7. Your catkin workspace is now set up inside your local git fork.

8. Add the remote upstream with git remote add upstream https://github.com/uvic-auvic/polaris.git.