ARP_Reach README

This package is orginized around creating and supprting the integration of reach_ros through three main client service pairs and their support functions. The services are found as PCD_Processing , ARP_Reach, and XML_Processing which process a data type of PoseArray to a pcd file, run that pcd file through Reach to get the results database, and process that database back into a list full of the PoseArray's scores, respectively. More information can be found in each of their respective README's for information on implementation

Installation and Build

To sucessfully build this project one must have minimum ROS 2 Humble installed, as well as python3 configs set up!

Installation

First, clone the repository:

cd ~/path/to/workspace/src
git clone https://github.com/natalieCloud/arp_reach.git
cd ..

Ensure submodules are pulled down and updated! (Check dependencies.repos for most recent working commit of each submodule!)

Install those dependencies! (Reach, Reach_Ros, Boost, etc)

vcs import src < src/arp_reach/dependencies.repos
rosdep install --from-paths src --ignore-src -r -y

Build

To build this package first navigate to the base directory and call:

    source /opt/ros/humble/setup.bash

Then navigate towards the root of the workspace and build the project:

    cd /path/to/workspace/src
    colcon build --symlink-install

Once the package has finished building make sure to source the install

    source ./install/setup.bash 

Executables

ARP_Reach_Launch

• reach_launch.xml: Launches all of the service nodes from PCD_Processing, XML_Processing, and ARP_Reach!

arp_msgs

• None Y(^u^)Y

arp_deployment_gp20

• None Y(^w^)Y

arp_reach

• reachStudyService
• reachClient

pcd_processing

• PoseArrayToPCDClient
• PoseArrayToPCDService

xml_processing

• xml_parse_service
• xml_parse_client

Structure

In the main launch file, the main nodes that will be called will be laid out as follows:

Important to note: Each box with sidebars represents a node or launch file that will be called from inside the regular main "Node Hub Launch" file! The dashed lines represent helper functions and the single line arrow inputs, hollow arrows output!