Clone the reopsitory:

git clone --recurse-submodules https://github.com/USI-Projects-Collection/FinalProject-Robotics.git

How to run the project:

Terminal1

pixi install 
pixi shell
colcon build --symlink-install
source install/setup.[bash|zsh]
pixi run coppelia src/orbit_tower/scenes/final_scene_without_obstacles.ttt

(in case the package coppeliasim_zmqremoteapi_client isn't being added correctly manually add it with pixi add)

Terminal2

pixi shell
source install/setup.[bash|zsh]
⁠ros2 launch orbit_tower s1.launch name:=/rm0

Terminal3

pixi shell
source install/setup.[bash|zsh]
⁠ros2 launch orbit_tower controller.launch name:=/rm0

Function	Topic	Type	Publisher	User
2D Map	/map	nav_msgs/OccupancyGrid	MockMapPublisher	Planner
Current pose	/odom	nav_msgs/Odometry	Robo (sim)	Planner
Current pose	/current_pose	geometry_msgs/PoseStamped	Planner	Robot
Goal	/goal_pose	geometry_msgs/PoseStamped	MockMapPublisher / RViz	Planner
Trajectory	/plan	nav_msgs/Path	Planner	(debug)
Velocity commands	/rm0/cmd_vel	geometry_msgs/Twist	Planner	Robot
Goal reached	/goal_reached	std_msgs/Bool	Planner	MockMapPublisher
Resume path	/go_again	std_msgs/Bool	MockMapPublisher	Planner
Velocity	/cmd_vel	geometry_msgs/Twist	ControllerNode	Robo
Images	/rm0/camera/image_color	sensor_msgs/Image	Robo (sim)	ControllerNode
Detection	/rm0/range_[0-3]	sensor_msgs/Range	Robo (sim)	ControllerNode

Example of publishing topics to move the robot

ros2 topic pub --once /current_pose geometry_msgs/PoseStamped
"{header:{frame_id: map}, pose:{position:{x: -1.5, y: -1.5, z: 0.0}, orientation:{w: 1.0}}}"

ros2 topic pub --once /goal_pose geometry_msgs/PoseStamped \
"{header:{frame_id: map}, pose:{position:{x: 3.0, y: 3.0, z: 0.0}, orientation:{w: 1.0}}}"