aaucns/mars_ros_test_env repository overview

⁠Introduction

This package is a ROS Wrapper for the Modular and Robust State-Estimation (MaRS) Library, which can be found here⁠, with the technology described by this publication⁠. The wrapper defines simple nodes for direct use. Additional sensors can be added to pre-existing nodes, or a dedicated ROS node can be designed for a specific application.

Please note that the general definition of a sensor module is defined within the MaRS library. The sensor modules defined by the MaRS Library can then be used within the ROS wrapper by instantiating the corresponding sensor module class and the definition of corresponding callbacks.

The MaRS ROS wrapper uses the MaRS library as a submodule. After cloning the mars_ros node, no additional download is needed (except for initializing the submodule).

Austrian patent published A 50969⁠

U.S. patent pending US2022/0146264A1⁠

⁠Getting Started

You need to have the MaRS Ros Wrapper downloaded to use this docker image. Preferably though, set the wrapper already up inside a catkin workspace for later use.

⁠Setup and Building the Project

# Generate a catkin workspace (optional)
mkdir -p catkin_ws/src
cd catkin_ws
catkin init
catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release
cd src

# Get the mars_ros package
git clone https://github.com/aau-cns/mars_ros.git mars_ros
cd mars_ros
git submodule update --init --recursive

# Build the project and run tests
cd ../../

⁠Isolated Build with Docker

The docker image is published regularly with updates to Dockerhub⁠. If you want to build the image yourself, you can do so with

$ cd mars_ros # Enter the source directory
$ docker build --network=host -t aaucns/mars_ros_test_env:latest . # Build the Docker image

Either way, you can then test your MaRS ROS wrapper by executing the following.

# The following runs the container, maps the source code (read only)
# and executes the script in 'docker/docker_application_test.sh'
$ docker run -it --rm \
  --network=host \
  -v "$(pwd)":/source:ro \
  aaucns/mars_ros_test_env:latest