{"id":19599971,"url":"https://github.com/ncolesummers/cs453-lab5","last_synced_at":"2026-05-09T05:07:28.718Z","repository":{"id":209577594,"uuid":"723539634","full_name":"ncolesummers/cs453-lab5","owner":"ncolesummers","description":"Introduction to ROS2 and Create3 for CS 453","archived":false,"fork":false,"pushed_at":"2023-11-28T03:01:48.000Z","size":62,"stargazers_count":0,"open_issues_count":0,"forks_count":0,"subscribers_count":1,"default_branch":"main","last_synced_at":"2025-01-09T08:12:20.162Z","etag":null,"topics":["create3","robotics","ros2","ros2-humble"],"latest_commit_sha":null,"homepage":"","language":"Python","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":null,"status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/ncolesummers.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":null,"code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null}},"created_at":"2023-11-26T01:30:28.000Z","updated_at":"2023-11-28T03:11:56.000Z","dependencies_parsed_at":"2023-11-28T05:35:46.609Z","dependency_job_id":null,"html_url":"https://github.com/ncolesummers/cs453-lab5","commit_stats":null,"previous_names":["ncolesummers/cs453-lab5"],"tags_count":0,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ncolesummers%2Fcs453-lab5","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ncolesummers%2Fcs453-lab5/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ncolesummers%2Fcs453-lab5/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ncolesummers%2Fcs453-lab5/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/ncolesummers","download_url":"https://codeload.github.com/ncolesummers/cs453-lab5/tar.gz/refs/heads/main","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":240878056,"owners_count":19872139,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["create3","robotics","ros2","ros2-humble"],"created_at":"2024-11-11T09:13:06.774Z","updated_at":"2026-05-09T05:07:28.671Z","avatar_url":"https://github.com/ncolesummers.png","language":"Python","funding_links":[],"categories":[],"sub_categories":[],"readme":"# CS 453 Lab 5: Docking\n\nThis lab serves as an introduction to ROS2 using the Create3 from iRobot. The Create3 is a mobile robot that can be controlled using ROS2. The Create3 has a docking station that it can autonomously dock with. This lab will focus on using the Create3 to dock with the docking station.\n\nSteps:\n\n    1. Undock\n    2. Drive 1m\n    3. Turn randomly\n    4. Drive 0.5m\n    5. Dock without the Dock action\n\nAdditional Requirements:\n\n- Add chirp tones between transitions. For Example, before you drive, play a tone to signify you’re driving.\n\n- Different tones between steps might be a helpful debugging tool!\n\n- Fully docked is: /dock_status.is_docked = True\n\n## Running the Code\n\n### Requirements\n\n- ROS2 and the Create3 ROS2 packages must be installed. See the [Create3 ROS2 Setup](https://iroboteducation.github.io/create3_docs/setup/ubuntu2204/) for guidance.\n\n- This Repo \n\n### Build\n\nUse colcon to build the packages\n\n```bash\n$ colcon build\n```\n\n### Run\n\n1. source the ROS2 environment:\n\n```bash\n$ source install/setup.bash\n```\n\n2. Spin up the dockStatus node:\n\n```bash\n$ ros2 run dockStatus dockStatus\n```\n\n3. Spin up the dock node:\n\n```bash\n$ ros2 run dock dock\n```\n## About\n\n### Constants\n\nThe dictionary constants at the top of the dock.py file are inspired by [Design Tokens](https://designsystem.digital.gov/design-tokens/). ","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fncolesummers%2Fcs453-lab5","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fncolesummers%2Fcs453-lab5","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fncolesummers%2Fcs453-lab5/lists"}