This repository contains catkin source files to Dr Robot Hawk Robot (A.K.A Pumpkin).

There are the following packages:

• pumpkin: All applications to record and playback movements with pumpkin.
• pumpkin_moveit: Moveit package for pumpkin.
• pumpkin_description: Description package for pumpkin.
• pumpkin_messages: Contains all messages and actions used in our solution.
• pumpkin_interface: Main interface code for Arduino, SSC-32 and some remote file operations.
• pumpkin_qt: GUI for pumpkin.
• analog_array: Which implements arduino analog servo reads messages. (moved to pumpkin_messages)

To build:

$ catkin_make

Maybe you will need to run catkin_make twice because analog_array and pumpking_messages packages may have self references.

Basically you can run the main software on the robot using:

$ roslaunch pumpkin pumpkin.launch

And the GUI node:

$ rosrun pumpkin_qt pumpkin_qt

Some configuration files and initialization scripts can be found in the root directory:

• gui.sh: GUI script that configures ROS_MASTER and run pumpkin_qt.
• pumpkin.sh: Configuration and launch of pumpkin.launch
• init_pumpkin: Script that must be copied to /etc/init.rc in order to have a standalone computer booting the pumpkin master code.

To configure your IDE there are some instructions here. After some tests we now use Clion.

Documentation and manual can be found under doc/ and manual/ folders, respectively.