romainreignier/robot2017

Software for the robot of the Eurobot team Supmeca Never Dies 2017.

robot2017

Software for the robots 2018.

• firmware: firmware of the NucleoL476 board, based on ChibiOS RTOS.
• ros_ws: workspace ROS to be run on the embedded computer.

System dependencies

For the development, Ubuntu 16.04 with ros-kinetic-dektop-full is needed.

Plus:

• python-catkin-tools

Build

Make sure you initialize and update the submodules in order to build.

$ git clone https://github.com/romainreignier/robot2017.git
$ cd robot2017
$ git submodule init
$ git submodule update
$ cd ros_ws
$ catkin build

Firmware

Install a compiler suite (but a bit old):

$ sudo apt install binutils-arm-none-eabi gcc-arm-none-eabi libnewlib-arm-none-eabi libstdc++-arm-none-eabi-newlib

For Openocd, build from sources to get the support for the NucleoL476:

$ sudo apt install git autoconf libtool make pkg-config libusb-1.0-0 libusb-1.0-0-dev
$ git clone git://git.code.sf.net/p/openocd/code openocd-code --depth=1
$ cd openocd-code/
$ ./bootstrap 
$ ./configure 
$ make
$ sudo make install

Add user to dialout group (login or reboot needed)

$ sudo adduser $USER dialout

Rosserial

To generate the rosserial headers:

$ cd ros_ws
$ catkin build
$ source devel/setup.bash
$ cd ../firmware/common
$ rm -r ros_lib
$ rosrun rosserial_chibios make_libraries.py .