README.md

RoboQuality Project

Main repo for the RoboQuality project. Every workpackages is organized in an own repository and added as submodules to this main repository.

Development Installation

1. Clone repo. Check if all submodules are downloaded to the src folder recursivly:

git clone --recurse-submodules https://mygit.th-deg.de/roboct/robo_quality/rq_workflow

2. Install ROS2 Humble (LTS version):
   https://docs.ros.org/en/rolling/Releases/Release-Humble-Hawksbill.html
3. Sources ROS2:

• Ubuntu:

source /opt/ros/humble/setup.bash

• Win / powershell:

C:\dev\ros2_humble\setup.ps1

5. Build the modules. Use the following command from the main folder of this repo:

colcon build --merge-install

6. Launch all or single modules.

Folder Structure (after building)

.  
├── build                    # Builded packages ...
│   ├── ...  
├── install                  # Local workspace ...
│   ├── local_setup.bash  
│   ├── ...  
├── log                      # Build and node logs ...
│   ├── ...  
├── src                      # Submodules
│   ├── rq_controller  
│   ├── rq_ddetection  
│   ├── rq_hardware  
│   ├── rq_interfaces
│   ├── rq_reconstruction  
│   ├── ros2_numpy_win       # (forked git module for win installation)
│   └── rq_trajectory  
└── README.md  

Packages Overview

Submodule	Describtion	Link
Controller	Workflow controller. Holds all information.	rq_controller
Defect Detection	Defect detection module	rq_ddetection
Hardware	Interface to real / simulated system	rq_hardware
Trajectory	CT-Trajectory optimization	rq_trajectory
Reconstruction	CT-Reconstruction node	rq_reconstruction
Interfaces	project intern interfaces for all msg / srv.	rq_interfaces