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ROS stack for the DUBotics Hydra

blah blah blah I'm not in an expository mood right now, so I'll fill in the intro later.

Setup

Source Checkout and Directory Setup

This repository contains ROS packages. To use these packages, clone the packages into a Catkin workspace directory src inside some scratch directory (hydra in this case):

mkdir hydra && \
  cd hydra && \
  git clone https://github.com/dubotics/hydra.git src && \
  catkin_init_workspace src

The final command, catkin_init_workspace, creates a link to a generic system-installed ROS build file. (Don't forget to load the setup file [/opt/ros/<ros_distro>/setup.*] appropriate to your shell and ROS installation prior to running that or any ROS-related commands.)

Building

Run catkin_make from your scratch directory to build the packages.

Running

Once the build completes successfully, you can source the shell-specific setup.* file from devel/ (source devel/setup.bash will work for most users) to add the locations of the newly-built packages to the ROS environment variables. Now you should be able to run e.g.

roslaunch hydra_tests motor-test.launch

Packages

hydra_drive

Manages drive control, mapping the appropriate inputs (manual or nav stack-based) to the appropriate outputs (hardware via serial_node).

hydra_tests

Random test nodes/launch files/etc.