This repository contains top-level ROS packages for the Building Wide Intelligence (BWI) project of the University of Texas at Austin Computer Science Department.

Packages contained in various released BWI repostories may depend on other packages at the same or lower levels. Dependencies on packages from higher-level repositories are not permitted.

From top to bottom, the released repositories are:

• bwi
• segbot
• bwi_common

You can install all the BWI components normally built from source on either ROS Indigo or Kinetic.

First, install ROS Indigo, or Kinetic.

The Kinetic version is only supported on Ubuntu Xenial, and is only partially functional.

Then, make sure the ROS_DISTRO environment variable is set correctly:

echo $ROS_DISTRO

It may already be. If not, issue the appropriate one of these two shell commands:

$ export ROS_DISTRO=kinetic

or

$ export ROS_DISTRO=melodic

Next, clone the source repositories:

$ source /opt/ros/$ROS_DISTRO/setup.bash
$ mkdir -p ~/catkin_ws/src
$ cd ~/catkin_ws
$ wstool init src https://raw.githubusercontent.com/utexas-bwi/bwi/master/rosinstall/$ROS_DISTRO.rosinstall

Install all dependencies:

$ rosdep update
$ rosdep install --from-paths src --ignore-src --rosdistro $ROS_DISTRO -y

Then, build everything. On a slow computer:

$ catkin build -j2 
$ source devel/setup.bash

Or on a fast computer:

$ catkin build -j6 
$ source devel/setup.bash

Or you can adjust the job limit as you see fit.

Note that the catkin build command from the python-catkin-tools package is required for building on ROS Kinetic and Melodic. On ROS Indigo, you can still use catkin_make instead, although the newer build tool is recommended.

To use this code on the Version 3 Segway Robot, one must also define some enviroment variables. The steps for doing this and the specific environment variables are described on the project wiki. Eventually, that should no longer be necessary.