Unmanned Ground Vehicle - DTU

Development of this Stack is a stepping stone for the
IGVC AutoNav Challange, Oakland University, Michigan.

This is not the Complete solution for the challange but rather an attempt
to understand the various primitive techniques to make a self driving vehicle
and to learn how the Robot Operating System Environment works.

Key Features !!

Includes Custom Scripts for :

Visualizing 2d postion Covariance of the Robot as an ellipse in RVIZ.
Converting Lanes from Camera Image to fake_laser Message to visualize in RVIZ,
which can also be used in gmapping, MoveBase and Costmap2d packages.
Change in heading (yaw) calculation, using basics of group theory (to be exact modular arithmetic),
for turning exact angles in degrees.
Contains a pre-build IGVC world for testing purposes.

Initial Setup

Keep in mind that this Package is developed on ROS-Melodic.

Navigate to your src folder

cd ~/catkin_ws/src

Clone this package into src

git clone https://github.com/yatharthahuja/ugv-dtu-ros-stack.git

Rename the "UGV-DTU_ROS_Stack" folder to "ugv_bot"

mv UGV-DTU_ROS_Stack ugv_bot

Navigate back to catkin workspace

cd ~/catkin_ws

Build the package using

catkin_make

or alternatively you could install catkin tools and then use catkin build

sudo apt-get install python-catkin-tools
catkin build ugv_bot

Give paths to Gazebo for Custom world models

echo "export GAZEBO_MODEL_PATH=~/catkin_ws/src/ugv_bot/models" >> ~/catkin_ws/devel/setup.bash

Now you are all set to run the launch file.

source ~/catkin_ws/devel/setup.bash
roslaunch ugv_bot ugvbot_world.launch

Notes

The setup assumes that you have catkin_ws folder on your home directory if not, do changes accordingly.
If the gazebo shows a black screen after launching, do
```
echo $GAZEBO_MODEL_PATH 
```
and make sure that the path is correct.

Further, it may take some time in launch for the first time, dont panic enjoy the dark world for few minutes, and then ctrl+c in the terminal, and then try relaunching.