 # 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: ```shell 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: ```bash source /opt/ros/humble/setup.bash ``` - Win / powershell: ```shell C:\dev\ros2_humble\setup.ps1 ``` 5. Build the modules. Use the following command from the main folder of this repo: ```shell 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](https://mygit.th-deg.de/roboct/robo_quality/rq_controller) | | `Defect Detection` | Defect detection module | [rq_ddetection](https://mygit.th-deg.de/roboct/robo_quality/rq_ddetection) | | `Hardware` | Interface to real / simulated system | [rq_hardware](https://mygit.th-deg.de/roboct/robo_quality/rq_hardware) | | `Trajectory` | CT-Trajectory optimization | [rq_trajectory](https://mygit.th-deg.de/roboct/robo_quality/rq_trajectory) | | `Reconstruction` | CT-Reconstruction node | [rq_reconstruction](https://mygit.th-deg.de/roboct/robo_quality/rq_reconstruction) | | `Interfaces` | project intern interfaces for all msg / srv. | [rq_interfaces](https://mygit.th-deg.de/roboct/robo_quality/rq_interfaces) |