This is an API to use Discover's LeoRovers using the stable version (Currently is ROS Noetic). Once LEO ROVER finish their experimental part with ROS 2 and release a stable version the experimentes for the RoverAPI will be updated.
First, make sure that you have ROS Noetic installed.
All LeoRovers should have ROS installed as part of the OS. Next, make sure that you have set up a catkin workspace.
Then, clone this repository into ~/catkin_ws/src, and use
mv ~/catkin_ws/src/RoverAPI/rover_api ~/catkin_ws/src
and
rm -r ~/catkin_ws/src/RoverAPI
to pull the ROS package out of the repository and delete unneeded parts of the repository. Next, initialize the rosdep tool and use it to install all dependencies. Finally, use
cd ~/catkin_ws && catkin_make
to build RoverAPI.
When running the RoverAPI on the LeoRovers, the default pi user may not have all of the necessary permissions to do certain operations,
such as creating the /experiment directory. So, all code should be run using the sudo command, or as the root user. If running as the root user, do not forget to run:
source /opt/ros/setup.bash && source /home/pi/catkin_ws/devel/setup.bash