Unamenned Ground Vehicle by Kolaydi Team

This project developed by Kolaydi Team for METU EEE Capstone project fair. The aim of the project is developing an UGV that is capable of 3D mapping, and autonomous navigation by a very cheap robot.

Content

Team
Project Overview
Getting Started

Team

Kolaydi consists of 5 Electrical-Electronics Engineering Students from different backgrounds :

M. Taha Bekar
Enfal Cabuk
Yunus T. Erzurumlu
Burcu Şakır
Duru Uyar

Project Overview

Getting Started

Installation

open a folder named git
clone the repository inside the git
open terminal
cd kolaydı
catkin build or catkin_make
source devel/setup.bash You are ready to go!
open couple of terminals inside de kolaydı
source devel/setup.bash for all the terminals
roslaunch ugv_sim ugv_gazebo.launch This opens the gazebo
rviz This opens the visualization tool. There is a config file named ugv_rviz.rviz. Open this config from the "file" tab. There might be some errors dont wory now.
python3 src/ugv_sim/controllers/another_controller.py
python3 src/ugv_sim/scripts/laser2pcl.py

to make lidar to rotate for 3D

rqt open plugins->topics-> message publisher There is a topic segment. Write (servo_controller/commmand) and add this topic publisher. (If you do not know how this works just make some research). The data should be "0.1 * sin(0.5*i)"

For mapping

roslaunch ugv_sim mapping.launch