ParsianStack

parsian-stack implemented on ROS2

grSim

The simulator grSim was contributed to the SSL community by Parsian. It performs a physical simulation of SSL robots and publishes SSL-Vision network packages. you can either found it from this github link or you can have it by updating your git submodules after cloning this repository. then go according to the installation file.

git submodule update --recursive --init 

ROS2

to use this project you will have to install ROS2 Eloquent you can refer to ROS2 installation page in order to do so.

Note for macOS users

• when running a node you probably get error because of poco dylib that cannot be found
  • you should install the exact version of poco that ROS2 wants
  • alternatively. find out what is the exact file name that ROS2 is trying to locate go to that file path and rename your file with the name that ROS2 wants
• when running a node you probably get error because of tinyxml2 dylib that cannot be found
  • you should install the exact version of tinyxml2 that ROS2 wants
  • alternatively. find out what is the exact file name that ROS2 is trying to locate go to that file path and rename your file with the name that ROS2 wants
• if you need rosdep you should install it with pip3

  python3 -m pip install rosdep
  sudo rosdep init
  rosdep update

• instal colcon with pip3

  python3 -m pip install colcon-common-extensions

• ROS2 uses tango-icon-theme for rqt icons that is not installed by defualt you can install it from tango release page install the latest version of tango-icon-theme from bottom of the page and go according too the installation file.
  • you may need some dependencies before trying to install tango-icon-theme.

    brew install intltool 

  brew install gettext brew link gettext --force brew install icon-naming-utils brew install ImageMagick

  - you undo gettext linking after the installation.
  ```bash
  brew unlink gettext
  

• to fix OpenSplice warning you need to download it from OpenSplice release page and download the darwin package. then go as follws.

  mkdir -p ~/ros2_OpenSplice
  cd ~/ros2_OpenSplice
  tar xf ~/Downloads/PXXX-VortexOpenSplice-6.9.190925OSS-HDE-x86_64.darwin10_clang-release-installer.tar

  and add the following to the end of you .zshrc

  export OSPL_HOME="absolute/path/to/ros2_OpenSplice/HDE/x86_64.darwin10_clang"

Installation

clone the repository.

git clone https://github.com/kianbehzad/ParsianStack.git 

then add the following lin at the end of your .zshrc file.

source path/to/ParsianStack/parsian_ws/src/parsian_util/tools/env.zsh

from here on you can build the work-space simply by this command.

parsian build

Note foe macOS users

you need Qt4 libraries for this project install it by brew

brew tap cartr/qt4
brew install qt@4

if you have Qt5 on your system installed you need to unlink it inorder to cmake find the Qt4

brew unlink qt
brew link qt@4

if you wanted to have your Qt5 back just reverse the above commands

brew unlink qt@4
brew link qt --force

Running nodes

run the provided grsim launch file.

ros2 launch parsian_util grsim_launch.py