Dependencies Index

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Dependencies Index

This page summarises the main vendored dependencies under ``src/deps`` and their role in the Fejemis stack. The repository keeps these in-tree to avoid mismatched versions and to make development reproducible.

Fields2Cover

Purpose: Complete coverage path planning library providing swath generation, headland generation, route ordering, and path smoothing.

Where used: ``opennav_coverage`` and Fejemis coverage planners.

Notes: Prefer the workspace copy (``src/deps/Fields2Cover``) when building — installing a distro package can produce header/ABI conflicts.

ldlidar_stl_ros2

Purpose: Driver and adapter for the LD-series LiDAR hardware used on Fejemis. Publishes 2D scans used by SLAM and Nav2.

Where used: ``fejemis_maploc`` LiDAR bringup and Nav2 costmaps.

Notes: Launch configuration often exposes serial port and container placement arguments (see ``launch/lidar.launch.py``).

opennav_coverage

Purpose: Wraps Fields2Cover into ROS 2 lifecycle components and provides a Nav2-compatible Complete Coverage Task Server.

Where used: Optional coverage navigation component integrated by ``fejemis_maploc`` when coverage support is enabled.

Notes: Depends on Fields2Cover; keep both workspace copies consistent.

raubase_core

Purpose: Core robot control messages, adapters, and helpers (includes ``RoverCommand``, ``rover_2_twist`` adapter, and mixers).

Where used: Bridge and simulator control paths; adapters that keep simulation and real hardware command interfaces aligned.

Notes: Building ``raubase_core`` alongside simulation ensures consistent message formats for Gazebo and the real robot.

ros_arcana (arcana_python, arcana_tools)

Purpose: Small utility libraries and launch helpers used across the workspace (xacro helpers, launch conveniences, python utilities).

Where used: Launch utilities, xacro handling, and small tooling used by multiple packages (e.g., ``fejemis_sim`` uses arcana launch helpers).

Notes: These packages are lightweight but important for consistent launch behaviour across machines and ROS distros.

Building and Recommendations

• Build the workspace copy of deps first so downstream packages use the in-tree install. Example:

 colcon build --symlink-install --packages-up-to fields2cover
 colcon build --symlink-install

• If you previously installed a system package (for example ``ros-jazzy-fields2cover``), uninstall it if you want the workspace copy to be authoritative. Use your system package manager (``apt remove ros-jazzy-fields2cover``) with care; sudo is required.

• If a build fails with missing headers, check that the workspace-installed ``fields2cover`` CMake config is being found (see CMakeCache or the ``build/*/CMakeFiles/CMakeConfigureLog.yaml`` entries).