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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
  1. Install ROS2 Humble (LTS version):
    https://docs.ros.org/en/rolling/Releases/Release-Humble-Hawksbill.html
  2. Sources ROS2:
  • Ubuntu:
source /opt/ros/humble/setup.bash
  • Win / powershell:
C:\dev\ros2_humble\setup.ps1
  1. Build the modules. Use the following command from the main folder of this repo:
colcon build --merge-install

Install missing python pip packages:

pip install -r requirements.txt
  1. Source install folder and 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