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MRover

This is the repository for all custom software written for the University of Michigan Mars Rover team (MRover). The repository is largely self-contained, with the MRover 2017-18 build system jarvis contained in the source tree.

Development

It is recommended that you use our Vagrant box. This will set up a virtual machine for development using the Ansible configurations that we have to set up the production base station and production onboard computer. To run it, clone this repository, then run the following commands in the directory provided.

$ vagrant up
$ vagrant ssh

If you would prefer not to use a virtual machine for development, you may use the Ansible configurations provided to configure a Ubuntu 16.04-based system. No other development environments will be supported.

Running the Software (Ubuntu only)

Begin by cloning this git repository:

$ git clone https://github.com/umrover/mrover-workspace.git
$ cd mrover-workspace

Next, force Jarvis to bootstrap itself:

$ ./jarvis

The output of the previous command will list all the buildable components in this repository. They have a one-to-one correspondence with the directories at the root of this repository.

Choose some components to build and build them:

$ ./jarvis build jetson/teleop
$ ./jarvis build base_station/gui
...

Once you have built the components, you can run them easily with jarvis exec. Note that the slashes are converted to underscores in the executable name.

$ ./jarvis exec jetson/teleop
$ ./jarvis exec base_station/gui
...

In the future, it will be easy to compile an entire subtree, such as jetson.

Jarvis In-depth Documentation

See here.

Contribution Workflow

Assumption: You have configured your SSH keys with GitHub. Additionally, you have a working knowledge of the Unix command line and have set up Git for your operating system.

Begin by forking this repository. This will give you your own workspace in which to make contributions.

Next, clone your fork:

$ git clone [email protected]:<your-github-username>/mrover-workspace.git
$ cd mrover-workspace

Add the official MRover repository as upstream:

$ git remote add upstream https://github.com/umrover/mrover-workspace.git

Now, you are ready to develop.

Before you make your changes, ensure that they still work by building the component you modified. Jarvis automatically tests and style-checks your code as part of a normal build, so if the system builds with your changes, you are ready to submit them.

Once you've made a change that you're ready to contribute, commit it and push it to your fork (called origin in git). Afterwards, open a pull request in the GitHub UI. This will be merged by an MRover Software Lead after a short review.

For more details on making code changes, see our workflow wiki.