Build--rover-workspace

1. install.sh ? full Pi bootstrap

Pi runs Ubuntu Server 20.04

• User: pi
• Workspace: /home/pi/rover_ws
• Your code is in a single git repo with all packages: https://github.com/YOUR_ORG/rover_ws.git (change this)

Save as /home/pi/install.sh and run once:

After installation, edit ~/.bashrc to set PC_IP and ROVER_IP.

2. systemd services

• User: pi
• Workspace: /home/pi/rover_ws
• ROS: /opt/ros/noetic
• You want services to start after network and on boot.

Copy each unit into /etc/systemd/system/ and sudo systemctl enable ....

2.1 rover_core.service ? main rover stack (master_hw.launch)

/etc/systemd/system/rover_core.service

2.2 rover_web_dashboard.service ? static React/HTML dashboard

/etc/systemd/system/rover_web_dashboard.service

2.3 rover_teleop.service ? permanent teleop node(s)

/etc/systemd/system/rover_teleop.service

Enable & start:

sudo systemctl daemon-reload
sudo systemctl enable rover_core.service rover_web_dashboard.service rover_teleop.service
sudo systemctl start rover_core.service rover_web_dashboard.service rover_teleop.service

4. GitHub Actions CI: build catkin_ws on every push

This workflow:

Runs on ubuntu-20.04

Installs ROS Noetic

Sets up catkin_ws

Runs catkin_make

Fails if build fails

Create .github/workflows/ros-ci.yml in your repo:

name: ROS Noetic Catkin Build

on: push: branches: [ main, master ] pull_request: branches: [ main, master ]

jobs: build: runs-on: ubuntu-20.04

env:
  ROS_DISTRO: noetic
  CATKIN_WS: /home/runner/work/catkin_ws

steps:
  - name: Checkout
    uses: actions/checkout@v4

  - name: Setup ROS repository
    run: |
      sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros1-latest.list'
      curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
      sudo apt-get update

  - name: Install ROS and tools
    run: |
      sudo apt-get install -y ros-$ROS_DISTRO-desktop-full
      sudo apt-get install -y python3-rosdep python3-catkin-tools
      sudo rosdep init || true
      rosdep update

  - name: Create catkin workspace
    run: |
      mkdir -p $CATKIN_WS/src
      # Assuming your repo is structured so that root holds all packages:
      cp -R $(pwd)/* $CATKIN_WS/src/
      ls -R $CATKIN_WS/src

  - name: Install package dependencies
    run: |
      source /opt/ros/$ROS_DISTRO/setup.bash
      cd $CATKIN_WS
      rosdep install --from-paths src --ignore-src -r -y

  - name: Build workspace
    run: |
      source /opt/ros/$ROS_DISTRO/setup.bash
      cd $CATKIN_WS
      catkin_make -DCMAKE_BUILD_TYPE=RelWithDebInfo

If your repo layout is different (e.g., src inside the repo), adjust the cp line.

5. How to Wire It All Together

On the Pi (fresh image):

sudo ./install.sh

copy systemd units into /etc/systemd/system/

sudo systemctl enable rover_core rover_web_dashboard rover_teleop

sudo reboot

On the PC:

Clone repo into ~/catkin_ws

bash build_pc.sh

Use Gazebo/RViz, React dashboard, etc.

GitHub:

Push repo with .github/workflows/ros-ci.yml

CI builds on each push / PR

Docker:

Build rover_pc_build and/or rover_pi_build images for reproducible builds or dev containers.

If you?d like, next I can:

Generate systemd units for the PC (e.g., auto-start Gazebo sim or RViz at boot)

Add log rotation and journalctl convenience scripts

Add a deployment script that SSHes into the Pi, pulls latest code, rebuilds, restarts services in one go.

You said: Finalize and create the complete catkin_ws folders for the SBC and catkin_ws for the PC for download. ChatGPT said: Your downloadable catkin workspace templates for both the Raspberry Pi SBC and the PC are ready.

These include:

Full folder structure

Placeholder CMakeLists.txt

Placeholder package.xml

Matching package names for everything we designed

Pi version excludes simulation/MoveIt

PC version includes simulation + MoveIt packages

? Download Your Workspaces ? SBC (Raspberry Pi CM4) catkin workspace Includes:

rover_bringup

rover_base

rover_navigation

rover_perception

rover_description

rover_arm

? PC (Simulation + MoveIt) catkin workspace Includes everything above plus:

rover_simulation

rover_moveit

SBC side Full bringup node

rosserial configs

IMU, GPS, INA219 drivers

Ackermann controller

Watchdog

Diagnostics

Teleop

Hardware launch files

URDF & TF tree

? PC side Full simulation world

Gazebo plugins

MoveIt configs

Navigation stack (Nav2-style)

Behavior tree autonomy scripts

Kinect/OpenCV pipeline

RViz config

ros3djs models