MARIAM (Multi-Agent Robust & Intelligent Autonomous Manipulation)

Installation

Assuming a prior install of ros-humble-desktop-full.

Install

Please use the following setup script for install.

cd ~
git clone --recursive git@github.com:BCLab-UNM/MARIAM.git
sudo rosdep init
rosdep update
chmod +x ~/MARIAM/script/mariam_install.sh
./MARIAM/script/mariam_install.sh

In addition, to use gazebo please build the humble branch of the gazebo_ros2_control soruce code independently.

cd ~
git clone https://github.com/ros-controls/gazebo_ros2_control.git
cd gazebo_ros2_control
git checkout humble
col build
source install/setup.bash

Submodule Updates

All submodules that we need to make changes to have been forked by the BCLab-UNM group. If you find any other submodules that you need to edit that have not been forked yet, feel free to do so. Pulling and pushing to submodules is somewhat nuanced, so please follow these instructions carefully...

Pulling

Here are the steps for pulling changes that others have made to submodules:

cd ~/MARIAM
git submodule init
git submodule update --init --recursive
cd <path/to/submodule>
git fetch origin
git pull origin <branch>

Editing Submodules & Pushing

Here are the steps for editing and pushing your changes to a submodules. First checkout the correct branch:

cd <path/to/submodule>
git checkout <branch>

Next, make your changes and push:

git add .
git commit -m "<Your commit message>"
git push origin <branch>
cd ~/MARIAM
git add <path/to/submodule>
git commit -m "Update submodule to the latest commit"
git push origin main

Experimentation

All experiments are located in doc/experiment_descriptions.md.

Robot Maintenance

Please check on swarmies at least once a semester and log battery states in doc/Swarmie_GiAnts, Dragonfly, Laptop & Desktop Inventory.xlsx for future reference.

"As I recall they are 4S batteries, each cell's "nominal" voltage (lowest voltage that you should run it at) is 3.8v so 15.2volts, fully charged they should be around 4.2v so fully charged you should read 16.8 volts." - C. Frost