Talaria

Install platformio for any IDE/non-IDE.

VSCODE: The following extensions will also be helpful:

• CPP Extension
• Doxygen Documentation
• GitLens
• Platformio

Formatting

PLEASE INSTALL clang-format if you're making any changes to the code

sudo apt install clang-format

Windows:

• x64
• x32

Initializing your workspace

Open your terminal and follow the steps below

# cd to your workspace, in my case it's home
# I'll use my own workspace, but you can replace the directory
cd ~/
git clone https://github.com/DhruvKoolRajamani/Talaria.git
cd ~/Talaria # cd to your controllers workspace.
pio init --ide vscode # Change vscode to whatever ide you use eg. atom
pio run -e Talaria-main

Uploading

First Time
Follow the steps in this link to set your udev rules for the first time.
udev rules

cd ~/Talaria
pio run -e <env_name> -t upload

First run

# Give rosserial access to your monitor
sudo chmod a+rw /dev/ttyACM0

Running with ROS Serial

# Open a new terminal
roscore

# Open a new terminal
rosrun rosserial_python serial_node.py _port:=/dev/ttyACM0

# Open a new terminal
rostopic echo /network_strings

Device Manager updates:

In order to test the latest code, the use of environment bash files can help in cleaner development.

Eg. To run the code for the Hope hand check the help:

cd Talaria
source envs/hand/setup.sh
run_setup --help

To run on an mbed device:

run_setup mbed #This will run with ROS

or

run_setup mbed serial #without ROS

Make sure to source the envs/bash file everytime a new terminal is used