Rover 2025 Codebase

Overview

Hello!

Welcome to the McGill Robotics Rover 2025 Repo:)

Requirements

As we use ROS2 are the framework for our codebase, it requires running a Ubuntu 22.04 environment. To use this repository, we recommend following our guide on the rover2025 wiki on how to setup your environment.

Another option is building a local Docker Image using our DockerFile, which you can do by following this guide: Docker Setup. Note, you will need to edit the path to mount your ROS2 rover25_ws workspace to the docker container in the docker-compose.yml

Overview

arm_control/

Contains the ROS2 package for for controlling a 5 DoF robotic arm, using a gamepad (PS4 controller), either by joint-based control or inverse kinematics. Includes:

• src/: Arm control ROS nodes, inverse kinematics, CAN firmware scripts.
• arm_sim/: Arm simulation scripts.
• model/: URDF and mesh files for the arm model.
• test/: Unit and integration tests for arm control.
• archive/: Legacy or backup scripts.

drive/

ROS2 package for rover drive and pan-tilt control. Drive control encompasses tank and steering based controls. Includes:

• scripts/: Drive control nodes, firmware, CAN communication, and pan-tilt modules.
• test/: Drive system tests.
• archive/: Legacy drive scripts.
• launch/: Launch files for drive nodes.

human_control_interface/

ROS2 package for interfacing with human input devices (e.g., gamepads). Includes:

• src/: Gamepad input publisher and gamepad interface logic.
• launch/: Launch files for human control nodes.
• resource/: Package resource files.

msg_srv_interface/

Contains custom ROS2 message and service definitions for inter-package communication.

sim/

ROS2 package for simulation of drive and arm systems.

teleop/

Contains UI and backend services for teleoperation:

• robot-controller-ui/: Next.js frontend for rover control and monitoring.
• services/: Backend services (e.g., camera, GPS) for teleop system.

docker/

Docker setup for building and running the workspace in a containerized environment. Needed to run ROS2 on the Raspberry Pi 5. Includes Dockerfile, compose files, and setup scripts.

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Launching Drive, Arm, and UI

To start multiple nodes at once, use the provided launch files in the human_control_interface/launch/ directory.

How to Launch

Build the workspace (if not already built):

# In ~/rover25_ws directory
colcon build
source install/setup.bash

Launch Drive Nodes (Jetson)

ros2 launch human_control_interface drive_launch.py

Launch Arm Nodes (Pi)

ros2 launch human_control_interface arm_launch.py

Launch Basestation UI Backend + Gamepad Input Publisher Node

# Assuming you are in the src/ directory
cd human_control_interface/launch/
./basestation_launch.sh

Launch Jetson and Pi Backend for camera UI

# You have to run this for both Jetson and Pi
cd ~/rover25_ws/src/teleop/services/camera
./run_jetson.sh --device-id <jetson/pi>-01 # replace <jetson/pi> with the device you are running the backend on, ex. jetson-01