# STEVE
## Stereo Vision Explorer

[Logo / Patch]()

## Setup local copy
In order to download this repository to a local machine (Desktop, Raspberry Pi) do this:
* Create new directory to use as ROS2 colcon workspace: `mkdir -p ~/colcon_ws/src`
* Move to directory: `cd ~/colcon_ws`
* `git init`
* `git remote add origin https://egit.irs.uni-stuttgart.de/RoverLehre/STEVE_Cammast.git`
* `git fetch --all`
* `git reset --hard origin/master`
* **Important:**  
Configure `.git/config` in order commit changes using your personal egit account:
```txt
[user]
        name = <replace with your username>
        email = <replace with your irs-email>
```  
For example:  
```txt
[user]
        name = maxmustermann
        email = max@irs.uni-stuttgart.de
```
* **Important:**  
Do not upload to the `master` branch but instead create your own branch. This prevents pushing experimental code to `master`. Creating a new branch will copy your local `master` repository to your new branch:
  * Create a new branch: `git branch <branch_name>`
  * Move to new branch: `git ckeckout <branch_name>`
  * Check content: `ls -s`
  * After creating a new branch **or** changing its content you must push it to the remote repo: 
    * `git commit -am "new branch created"`
    * `git push origin <branch_name>`
* Continue working in your local and remote branch but do not push to `master`!

## Folders
* __documentation__ contains instruction material, text and pictures for documentation purposes
* __Steve__ contains the ROS package for running the Steve Camera Mast on a Raspberry Pi (3/4)

## Prerequisites
* Read about setting up the [CAN bus on Linux](https://developer.ridgerun.com/wiki/index.php/How_to_configure_and_use_CAN_bus) and performing a [loopback test](https://aptofun.de/CAN_Bus_Shield_MCP2515).
* Setup the Raspberry Pi OBC and CAN shield by following these [instructions](https://egit.irs.uni-stuttgart.de/DLR-Libs/ROS-CANopen/src/branch/master/documentation/instruction_material/rpi-shield-setup.md).
* Learn how to use ROS2 [here](https://egit.irs.uni-stuttgart.de/RoverLehre/ROS2_pubsub).

## How to use
% Describe how to use the package %  
**LINK to separate document describing software**