Development Setup

Multi-Developer Setup (ORIN System)

When developing on the shared ORIN system (192.168.50.100) with multiple developers, follow these steps:

1. Create personal workspace and clone:

   # Replace 'abmo' with your initials/username
   mkdir -p ws/abmo_dev
   cd ws/abmo_dev
   git clone https://github.com/AAU-Space-Robotics/rover-software.git
   cd rover-software
   

2. Configure Git locally for your identity:

   git config user.name "Your Name"
   git config user.email "your.email@example.com"
   

3. SSH Agent Setup for ORIN (192.168.50.100):

   Add to your SSH config (~/.ssh/config):

    Host 192.168.50.100
        HostName 192.168.50.100
        User gorm
        ForwardAgent yes
        IdentityFile ~/.ssh/id_ed25519
   

4. Install Keychain

   sudo apt-get update
   sudo apt-get install keychain
   

5. Setup SSH key evaluation:

   Add to the bottom of your ~/.profile and ~/.xprofile:

   eval $(keychain --eval --quiet id_ed25519)
   

   create the files if they don't exist.

6. Development with Docker (Recommended):

   cd docker
   ./run.sh rover --dev
   

7. Native development:

   # Source ROS 2
   source /opt/ros/humble/setup.bash
   
   # Build packages
   colcon build
   source install/setup.bash
   

Testing

ROS 2 Packages

# Build and test a specific package
colcon build --packages-select gorm_control
colcon test --packages-select gorm_control

Docker Testing

# Test in development container
cd docker
./run.sh rover --dev

# Test production build
./build.sh
./run.sh rover --prod