/self-driving-robot

NCTU ARG self driving robot

Primary LanguageC++

Self Driving Robot - NCTU ARG

Branch Developer
Master NCTU ARG Lab
devel-david David Chen
devel-sean Sean Lu

Requirements

  • ROS kinetic (Ubuntu 16.04)
  • PCL (Point Cloud Library)

Hardware

Sensor

IMU

  • Sparkfun 9Dof Razor IMU

GPS

  • G-STAR IV (BU-353S4)

LIDAR

  • Velodyne VLP-16

Installation

Package

$ sudo apt-get install ros-kinetic-gazebo-ros-*

How to build

$ cd
$ git clone https://github.com/championway/self-driving-robot
$ cd ~/self-driving-robot/catkin_ws
$ source /opt/ros/kinetic/setup.bash
$ catkin_make --pkg robotx_msgs
$ catkin_make

Note: Do the following everytime as you open new terminals

$ cd self-driving-robot/catkin_ws
$ source environment.sh

Kinematics

Joystick control

Wheel odometry

Path Planning

RRT

Pure Pursuit

Perception

Point Cloud

Mapping