Wisconsin Robotics -- 2024-2025 Software System

Codebase for the URC rover at UW-Madison, 2024-2025.

Teleop

Modules and logic used during teleoperated control:

▸ Arm-forward-Kinematics

Refer to README inside branch dev/arm_test

▸ Arm-IK

Refer to README inside branch dev/ik_drawing

▸ Drive

Refer to README inside branch dev/basestation

▸ Full Teleop (Requires 3 Terminals)

You must run three processes in parallel. Open three separate terminals and paste the corresponding commands below.

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✅ Terminal 1 — Base Station

cd /home/wiscrobo/workspace/WRoverSoftware
git checkout dev/basestation
colcon build
./basestation.sh

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✅ Terminal 2 — IK Solver

cd /home/wiscrobo/workspace/IK_Solver/WRoverSoftware
cd src/relaxed_ik_ros2/relaxed_ik_core
cargo build
cd ../../..
source /opt/ros/humble/setup.bash
colcon build --symlink-install
. install/setup.bash
ros2 launch arm_ik demo.launch.py

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✅ Terminal 3 — Rover Station (SSH)

Make sure you are connected to WRoverBasestation_5G before running this.

ssh [email protected]

When prompted, enter the password:

i#3Er0b0

Then run:

cd /home/wiscrobo/workspace/WRoverSoftware
git checkout dev/roverStation
colcon build
# If build fails, run:
# rm -r build install log && colcon build
./roverStart.sh

Enter the same password when prompted.

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Autonomous

Refer to README inside dev/StateMachine