add README.md inside arg_utils and a simple pytest for example

.gitignore

@@ -3,3 +3,5 @@ devel/
 .catkin_tools
 logs
 __pycache__/
+tags
+*.pyc

.gitmodules

@@ -0,0 +1,9 @@
+[submodule "low_cost_ws/src/apriltags_ros_test"]
+	path = low_cost_ws/src/apriltags_ros_test
+	url = git@github.com:Sensing-Intelligent-System/apriltags_ros_test.git
+[submodule "low_cost_ws/src/apriltags_ros"]
+	path = low_cost_ws/src/apriltags_ros
+	url = git@github.com:Sensing-Intelligent-System/apriltags_ros.git
+[submodule "low_cost_ws/src/arg_utils"]
+	path = low_cost_ws/src/arg_utils
+	url = git@github.com:ARG-NCTU/arg_utils.git

README.md

@@ -0,0 +1,22 @@
+# LoCoBot-RSA
+
+This is the class repo for Design and Implementation of Robotic Systems and Applications.
+
+## Installation
+
+By default we use native Ubuntu 20.04 (or dual boot if you are using Windows).
+
+### Several tools are required
+
+Git: please follow
+* SSH Key:  https://github.com/ARG-NCTU/oop-python-nycu/blob/main/tutorials/00-ssh-key.md 
+
+### Some tools are recommended
+* NeoVim and GitHub Copilot: https://github.com/ARG-NCTU/oop-python-nycu/blob/main/tutorials/04-copilot-neovim-nodejs.md
+
+## To Get Started
+
+We will use a docker image with ROS noetic.
+```
+source docker_run.sh
+```

docker/build.bash

@@ -1,7 +1,7 @@
 #!/usr/bin/env bash
 
-REPOSITORY="sunfuchou/rsa"
-TAG="amd64"
+REPOSITORY="argnctu/rsa"
+TAG="latest"
 
 IMG="${REPOSITORY}:${TAG}"
 

docker/docker_join.bash

@@ -1,8 +1,8 @@
 #!/usr/bin/env bash
 
 NAME=locobot_rsa
-REPOSITORY="sunfuchou/rsa"
-TAG="amd64"
+REPOSITORY="argnctu/rsa"
+TAG="latest"
 REPO_NAME=LoCoBot-RSA
 
 IMG="${REPOSITORY}:${TAG}"

docker/docker_run.bash

@@ -3,8 +3,8 @@
 ARGS=("$@")
 
 NAME=rsa
-REPOSITORY="sunfuchou/rsa"
-TAG="amd64"
+REPOSITORY="argnctu/rsa"
+TAG="latest"
 REPO_NAME=LoCoBot-RSA
 
 IMG="${REPOSITORY}:${TAG}"

docker/dockerfile

@@ -25,33 +25,44 @@ RUN echo "${USER}:rsa" | chpasswd
 
 RUN apt-get -o Acquire::ForceIPv4=true update && apt-get -yq dist-upgrade \
     && apt-get -o Acquire::ForceIPv4=true install -yq --no-install-recommends \
-    locales \
-    curl \
-    cmake \
-    make \
-    git \
-    vim \
-    wget \
-    sudo \
-    lsb-release \
-    build-essential \
-    net-tools \
-    apt-utils \
-    software-properties-common \
-    dialog \
-    libffi-dev \
-    python3-dev \
-    python3-pip \
-    python3-setuptools \
-    apt-transport-https \
-    libglew-dev
+        locales \
+        curl \
+        cmake \
+        make \
+        git \
+        vim \
+        wget \
+        sudo \
+        lsb-release \
+        build-essential \
+        net-tools \
+        apt-utils \
+        software-properties-common \
+        dialog \
+        libffi-dev \
+        python3-dev \
+        python3-pip \
+        python3-setuptools \
+        apt-transport-https \
+        libglew-dev \
+        python3-tk
 
 RUN pip3 install --upgrade pip \
     && pip3 install --upgrade setuptools \
-    && pip3 install python_tsp pypozyx
+    && pip3 install \
+        python_tsp \
+        pypozyx \
+        pytest \
+        scipy \
+        opencv-python \
+        dbg \
+        pytransform3d \
+        wget \
+        apriltag
+
 
 RUN apt-get -o Acquire::ForceIPv4=true update && apt-get -yq dist-upgrade \
-    && apt-get -o Acquire::ForceIPv4=true install -yq --no-install-recommends \
-    ros-${ROS_DISTRO}-robot-localization
+&& apt-get -o Acquire::ForceIPv4=true install -yq --no-install-recommends \
+ros-${ROS_DISTRO}-robot-localization
 
 RUN echo 'source /opt/ros/noetic/setup.bash' >> ~/.bashrc

docker/push.bash

@@ -0,0 +1,3 @@
+#!/usr/bin/env bash
+
+docker image push argnctu/rsa:latest

docker_join.bash

@@ -0,0 +1 @@
+docker/docker_join.bash

docker_run.bash

@@ -0,0 +1 @@
+docker/docker_run.bash

locobot/README.md

@@ -0,0 +1,7 @@
+# Code to Run within a LoCoBot
+
+The code in this folder is supposed to run on NYCU LoCoBot
+
+## NYCU LoCoBot Settings
+
+The settings follows the orignial version distributed with the hardware.

locobot/environment.sh

@@ -1,5 +1,33 @@
 #! /bin/bash
+if [ "$1" ]; then
+
+    echo "ROS MASRER $1"
+
+    export ROS_MASTER_URI=http://$1:11311
+
+else
+
+    echo "ROS MASRER 127.0.0.1"
+
+    export ROS_MASTER_URI=http://127.0.0.1:11311
+
+fi
+
+
+
+if [ "$2" ]; then
+
+    echo "ROS IP $2"
+
+    export ROS_IP=$2
+
+else
+
+    echo "ROS IP 127.0.0.1"
+
+    export ROS_IP=127.0.0.1
+
+fi
 
 source /opt/ros/melodic/setup.bash
 source ~/WFH_locobot/ROS/catkin_ws/devel/setup.bash
-source ~/WFH_locobot/set_ip.sh $1 $2

locobot/set_wfh_workspace_env.sh

@@ -3,7 +3,36 @@
 # load pyrobot env
 load_pyrobot_env
 # source WFH workspace and set_rospkg_path
-source ~/WFH_locobot/set_ip.sh $1 $2
+if [ "$1" ]; then
+
+    echo "ROS MASRER $1"
+
+    export ROS_MASTER_URI=http://$1:11311
+
+else
+
+    echo "ROS MASRER 127.0.0.1"
+
+    export ROS_MASTER_URI=http://127.0.0.1:11311
+
+fi
+
+
+
+if [ "$2" ]; then
+
+    echo "ROS IP $2"
+
+    export ROS_IP=$2
+
+else
+
+    echo "ROS IP 127.0.0.1"
+
+    export ROS_IP=127.0.0.1
+
+fi
+
 #source ROS/catkin_ws/devel/setup.bash 
 #source  ROS/catkin_ws/devel_isolated/setup.bash
 source ~/WFH_locobot/set_rospackage_path.sh

locobot/top_camera.sh

@@ -1,7 +1,36 @@
 #!/bin/bash
 
+if [ "$1" ]; then
+
+    echo "ROS MASRER $1"
+
+    export ROS_MASTER_URI=http://$1:11311
+
+else
+
+    echo "ROS MASRER 127.0.0.1"
+
+    export ROS_MASTER_URI=http://127.0.0.1:11311
+
+fi
+
+
+
+if [ "$2" ]; then
+
+    echo "ROS IP $2"
+
+    export ROS_IP=$2
+
+else
+
+    echo "ROS IP 127.0.0.1"
+
+    export ROS_IP=127.0.0.1
+
+fi
+
 source ~/WFH_locobot/environment.sh
-source ~/WFH_locobot/set_ip.sh $1 $2
 rosservice call /calibration
 #rostopic pub /tilt/command std_msgs/Float64 "data: 0.8"
 #rostopic pub /pan/command std_msgs/Float64 "data: 0.0"

locobot/turn_on_locobot.sh

@@ -1,4 +1,33 @@
 #! /bin/bash
+if [ "$1" ]; then
+
+    echo "ROS MASRER $1"
+
+    export ROS_MASTER_URI=http://$1:11311
+
+else
+
+    echo "ROS MASRER 127.0.0.1"
+
+    export ROS_MASTER_URI=http://127.0.0.1:11311
+
+fi
+
+
+
+if [ "$2" ]; then
+
+    echo "ROS IP $2"
+
+    export ROS_IP=$2
+
+else
+
+    echo "ROS IP 127.0.0.1"
+
+    export ROS_IP=127.0.0.1
+
+fi
+
 source ~/WFH_locobot/environment.sh
-source ~/WFH_locobot/set_ip.sh $1 $2
 source ~/WFH_locobot/run_locobot.sh

locobot/vr_arm_control.sh

@@ -2,7 +2,37 @@
 cd ~/WFH_locobot
 source ~/WFH_locobot/set_wfh_workspace_env.sh
 
-source ~/WFH_locobot/set_ip.sh $1 $2
+if [ "$1" ]; then
+
+    echo "ROS MASRER $1"
+
+    export ROS_MASTER_URI=http://$1:11311
+
+else
+
+    echo "ROS MASRER 127.0.0.1"
+
+    export ROS_MASTER_URI=http://127.0.0.1:11311
+
+fi
+
+
+
+if [ "$2" ]; then
+
+    echo "ROS IP $2"
+
+    export ROS_IP=$2
+
+else
+
+    echo "ROS IP 127.0.0.1"
+
+    export ROS_IP=127.0.0.1
+
+fi
+
+
 
 rosrun oculusVR vrarm.py
 

low_cost_ws/README.md

@@ -0,0 +1,10 @@
+# ROS to Run on Host Laptop/PC
+
+## Build the Project
+
+```
+cd ~/low_cost_ws
+catkin_make
+```
+
+## Run