Welcome to the rUNSWift git repository.
The directory structure is:
- Makefile: This file acts as a doc/cheat sheet for the most common commands used in the rUNSWift repository, such as building the code, syncing to the robot, and launching tools.
- bin: This is where any executables are stored, such as configuration scripts.
- image: The contents of this directory are synced to the robot with nao-sync, put custom configuration files or libraries independent of ROS2 here.
- firmware Related to building the actual ROS2 OS image using NaoImage. Contains NaoImage snippets which define how this happens.
- desktop_ws: This workspace will contain tools, scripts, and packages that are only used for debugging, monitoring, and simulation on development computers. It will be layered on top of the robot_ws, meaning it can access the robot-related code without needing to recompile it.
- robot_ws: This workspace will contain all the robot-related code that runs on the physical robot and is critical for its operation.
- utils: This is the source code for any off-robot utilities, such as migration and conversion scripts or offline debugging utilities which don't need to interface directly with robot-related code.
Documentation can be found in several places:
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On ReadTheDocs for heaps of high-level overviews on different areas, of note:
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On the CSE RoboCup Site for game videos, older team reports and code releases
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In README.md files in many directories such as for pos files and vision regions, great for implementation overviews
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In docstrings or multiline comments at the top of files, such as explaining how behaviour.py bridges C++ and Python
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In code comments as appropriate to the language
- In the wiki, typically just for private/secret things (most of the public stuff has been migrated to ReadTheDocs, though if you find something that hasn't been please help migrate it)