Systems Architecture 2026

The new and improved codebase for 2026 (and hopefully beyond)!

This will contain the ROS nodes, topics, etc. developed by the Systems Architecture subteam of UC Davis Cyclone Robosub. It will also contain C code auto-generated by Matlab to be used in the robot control system.

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How to use launch files

Launch files are a alternative to bash script for runnign ROS nodes

1. Run colcon build in the workspace
2. Run source install/setup.bash
3. Run ros2 launch $pkg_name $launch_file_name wher the pkg_name is the name of the package and launch_file_name is the name fo the launch file.
4. For example, the command for the pwm_ci package would be ros2 launch pwm_cli cli_launch.py (presuming you have done step 1 and 2)

.
├── onboard
│   └── src
│       ├── cli
│       │   ├── cli
│       │   │   ├── __init__.py
│       │   │   └── cli.py
│       │   ├── launch
│       │   │   └── cli_launch.py

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For information on nodes, topics, etc. check the README.md files within the packages themselves.