RoboticsInfrastructure

Robots and tools useful for us and not included in the official ROS or Gazebo packages.

How to contribute

First of all you have to know the infrastructure where you will develop your code:

• Gazebo version,
• ROS version
• Python version (if you develop in Python).

How to add new models

• Upload the new model files to the CustomRobots directory.
• If necessary update the install section (starts in line 78) in the CMakeLists.txt file to acomodate the new directories following the same schema as the other entries.
• To test the new models you will have to create a new RADI (or BTDI in BT Studio) with the Robotics Infrastructure flag (-i) set to your branch name.

How to add a new world

• Add the world file inside the Worlds directory using a clear and simple name.
• You will also need to create a launcher for each world and add it to the database.
• To test the new world you will have to create a new RADI (or BTDI in BT Studio) with the Robotics Infrastructure flag (-i) set to your branch name.
• The world name defined inside the .world file must be “default”:

  <?xml version="1.0" ?>
  <sdf version="1.10">
    <world name="default">
      .....
    </world>
  </sdf>
  

How to add a new launcher

• To test the new launcher you will have to create a new RADI (or BTDI in BT Studio) with the Robotics Infrastructure flag (-i) set to your branch name.

Gazebo Classic: Legacy

• Add the python ros launcher inside the Launchers directory using a clear and simple name (for example the same as the world or the exercise).

Gazebo Harmonic

• Add the python ros launcher inside the Launchers directory using a clear and simple name (for example the same as the world or the exercise).
• Any additional launcher must be located inside a subdirectory inside Launchers that has the same name as the launcher (except the launch.py).
• The visualization configuration for Gazebo Harmonic must be located in the visualization folder inside Launchers with the name being the same as the launcher but replacing the .launch.py extension for .config.

How to add a new universe

Go to the database branch. That branch is the one used as a submodule for Robotics Academy. To test it locally (in Robotics Academy or BT Studio) you must have the branch with the updated database selected and the execute the develop script in either application, this will mount your database into the docker container.

Contributing to RoboticsInfrastructure

First off, thanks for your interest in contributing to RoboticsInfrastructure! All contributors are welcome, from commenting issues to reviewing or sending Pull Requests.

How to contribute?

If you are new to GitHub, visit the first-contributions instructions to learn how to contribute on GitHub.

To find issues you can help with, go though the list of good first issues or issues labeled with help wanted.

Once found or created an issue, let us know that you want to work on it by commenting in the issue.

Important: this is Robotics Infrastructure and it works as a part of Robotics Academy with its own structure and codebase. If you are not able comprehend it, this may not be a good project to contribute to. Submitting changes (Pull Request) or issues without that or without reading the documentation will be considered as spam. An example of bad submissions are: disabling the database, frontend and backend to “simplify development for low-risk developers” in PR 3411, or submitting a standalone python script that tries to fix an issue that is not there in PR 3421.

Opening a Pull Request

If you have fixed an issue and want to share your fix create a pull request. If your pull request does not follow the next points it will not be accepted:

• Fixes the issue related to the pull request
• Does not contain any additional code than the one related to the fix
• Has been tested and compiled with a corresponding video or image. Not a link to another webpage, you must add the video or image with Github’s add file feature.
• If the changes are still in progress open a Draft instead of a Pull Request. All PR will be considered as ready to merge
• The changes submited must be up to date with the latest version of the branch they are being submitted to

If it breaks one of the points above you will be requested to change it and if you do not it will be closed.

Also do not ping or request reviews from mantainers or members of JdeRobot. The corresponding mantainer will asign a proper reviewer and ping other members if needed.

Questions, suggestions or new ideas

Please don’t open an issue to ask a question or suggestion. Use the GitHub Discussions which are meant for that. New ideas and enhacements are also welcome as discussion posts.

Issue reporting

Feel free to create a new issue if you have some issue to report. But first, make sure that the issue has not been reported yet.

Be sure to explain in details the context and the outcome that you are lookign for. If reporting bugs, provide basic information like you OS version, RoboticsBackend version and the exercise launched.

The responses to the issues must be related to the topic and they must not contain any solutions, for that use a Pull Request.

Thanks! :heart: :heart: RoboticsInfrastructure Team