Simulation

.vscode/tasks.json

@@ -36,7 +36,24 @@
 		{
             "label": "Run_Simulation",
             "type": "shell",
-            "command": "echo '----- running simulation -----'source ~/.bashrc && source /opt/ros/humble/setup.sh && source install/setup.sh && ros2 launch simulation simulation.launch.py",
+            "command": "echo '----- running simulation -----' source ~/.bashrc && source /opt/ros/humble/setup.sh && source install/setup.sh && ros2 launch simulation simulation.launch.py",
+            "group": {
+                "kind": "build",
+                "isDefault": true
+            },
+            "dependsOn": ["Build"],
+			"options": {
+                "shell": {
+                    "executable": "/bin/bash",
+                    "args": ["--login", "-i", "-c"]  // --login loads your ~/.bashrc
+                }
+            },
+            "problemMatcher": []
+        },
+        {
+            "label": "Run_Raw_Gazebo",
+            "type": "shell",
+            "command": "echo '----- running simulation -----' source ~/.bashrc && source /opt/ros/humble/setup.sh && source install/setup.sh && ign gazebo worlds/test.world",
             "group": {
                 "kind": "build",
                 "isDefault": true

Makefile

@@ -1,10 +1,15 @@
 inst_dep:
 	sudo apt-get update
 	rosdep install --from-path src
-build:
+build_env:
 	colcon build
 	echo "DONT FORGET TO SOURCE!"
 run:
-	ros2 launch simulation launch.py
+	ros2 launch simulation simulation.launch.py
+
+clean:
+	rm -rf build/ install/ log/
 
 run_and_build: install_dependencies build run
+
+fast_build: clean build_env run

README.md

@@ -1,40 +1,55 @@
 # WRoverSoftware_25-26
 Official Wisconsin Robotics software repository for the 2026 University Rover Challenge, containing autonomy, control, and base station code.
 
+## Notes
+Documentation about the software being used, resources for development, things that need to be done, can all be found in [/docs/](./docs/)
 
-# How To Set Up Simulation
 
-## 1. Install Dependencies
-start from the root of the wisconsin robotics directory
+## How To Set Up Simulation
+starting from the rot of the WiscRobo directory (where this readme is).
+NOTE: for development purposes, it is recommended to use VScode seeing as there are custom
+build commands and compile tasks in VSCode
 
-Makefile shortcut:
+### Prereqs
+These are required to be installed on the system in order for the simulation to work.
 ```
-make inst_dep
+sudo apt install python3-colcon-common-extensions
+sudo apt-get install python3-rosdep2
+sudo apt install ros-humble-joint-state-publisher-gui
 ```
-Raw Commands:
+
+### Raw Build and Run Commands
 ```
+# Install package dependencies
+source /opt/ros/humble/setup.sh
 sudo apt-get update
 rosdep install --from-path src
-```
 
-## 2. build project
-Makefile shortcut:
-```
-make build
-```
-Raw Commands:
-```
+# Build projcet
 colcon build
-```
 
-## 3. Run Simulation
-Makefile shortcut:
-```
+# Run Sim
 source install/setup.sh
-make run
+ros2 launch simulation simulation.launch.py
 ```
-Raw Commands:
+
+### Shortcuts
+``` bash
+# For fast builds use fast_build script at the top level
+# This will do the entire build, source, and run routine for you
+# make sure to chmod the script
+./fast_build
+
+# clean repo
+make clean
+
+# install ros dependencies
+make inst_dep
+
+# build project 
+make build_env
+
+# run after source
+make run
 ```
-source install/setup.sh
-ros2 launch simulation simulation.launch.py
-``` 
+