MSL soccer robot code of NuBot team of National University of Defense Technology

Package Summary

• Maintainer status: maintained
• Maintainer: NuBot Team
• Author: NuBot Team
• License: Apache
• Bug / feature tracker: https://github.com/nubot-nudt/nubot_ws/issues
• Source: git https://github.com/nubot-nudt/nubot_ws (branch: master)

Note

The strategy part in nubot_control package has been removed. 
But you can still compile the package successfully.

Compile

$ sudo chmod +x configure

$ ./configure

$ catkin_make

RUN

For real robot applications

1. All components:
   $ roslaunch nubot_common nubot.launch
2. Joy stick and hardware controller
   $ roslaunch nubot_hwcontroller nubot_hwcontroller.launch
$ rosrun nubot_hwcontroller nubot_teleop_joy
3. Show images from the cameras
   $ rqt_image_view

For simulation

1. Please edit the file: core.hpp and uncomment '#define SIMULATION'; then compile the code again.
2. Run the following commands:
   $ ./src/cyan_spawn_model.sh for cyan robots,
   or
   $ ./src/magenta_spawn_model.sh for magenta robots.

Error & Fix

1. Problem: nubot_hwcontroller shows an error: 'pid *** died'.
   Solution: $ sc devel/lib/nubot_hwcontroller/nubot_hwcontroller_node The command 'sc' is an alias of 'sudo setcap cap_net_raw=ep'

2. Problem: CMake Error at nubot/color_segment/CMakeLists.txt:40 (Qt5_WRAP_CPP): Unknown CMake command "Qt5_WRAP_CPP".
   Explanation: using color_segment package to calibrate color-related parameters. This requires Qt since it has a Qt GUI.
   Solution 1: You could just delete this package since it does not interfere with other parts. So the compile will go on.
   Solution 2: Go to src/nubot/color_segment and edit CMakeLists.txt line 4; change the path to your Qt5Widgets.

3. Problem: hwcontroller_node.cpp:6:21: fatal error: ncurses.h: No such file or directory
   Solution: $ sudo apt-get install libncurses5-dev

4. help files are located in /doc folder; please refer to them

Contact

NuBot Team: [email protected] or [email protected]