Getting Started

Prerequisites

• ROS 2 Jazzy (Ubuntu 24.04, Python 3.12)

• colcon and rosdep

• Simulation extras: mujoco, mujoco_ros2_control (built from source)

• Hardware extras: dynamixel_hardware

Build the workspace

cd ~/fishing-bot/software

# Install declared dependencies
rosdep install --from-paths src --ignore-src -r -y

# Build
colcon build --symlink-install

# Source the overlay (every new shell)
source install/setup.bash

Run it

Simulation (default)

ros2 launch bringup robot.launch.py

Headless + recording

ros2 launch bringup robot.launch.py headless:=true record:=true run_duration:=30

Real hardware

ros2 launch bringup robot.launch.py use_sim:=false

Bring-up self-test

ros2 launch bringup robot.launch.py hardware_check:=true

The full set of launch arguments is documented on the bringup reference page, and is regenerated when you run ./docs/build.sh.

For architecture, package internals, and ROS 2 graphs (sim vs hardware), see Architecture Overview and Package Guide.

Build the documentation locally

cd ~/fishing-bot/software

# One-time: create an isolated docs environment
python3 -m venv docs/.venv
source docs/.venv/bin/activate
pip install -r docs/requirements.pip

./docs/build.sh

Then open docs/_build/html/index.html. See The Documentation Pipeline for details.