The GeiCar project is a project carried out by students at INSA Toulouse. This project consists in developing the software of a autonomous car in order to carry out different missions. Several projects are exposed on the [official website] (https://sites.google.com/site/projetsecinsa/).

This repository is intended to provide a basis for students starting a new project on the GeiCar. The present code as well as the documentation is the result of internship carried out by Alexis24 (Alexis Pierre Dit Lambert)

The platform is developped and maintained by :

• DI MERCURIO Sébastien
• LOMBARD Emmanuel
• MARTIN José

The projects are (or were) surpervised by:

• CHANTHERY Elodie
• DELAUTIER Sébastien
• MONTEIL Thierry
• LE BOTLAN Didier
• AURIOL Guillaume
• DI MERCURIO Sébastien

###Turn the car on and off

• To turn on the car:

  • Toggle the red button to bring the power.
  • Press the START push button (hold it down for a short while).
  • Wait until Raspberry boot up and connect to it using its IP address (written on the board): ssh [email protected]
  • When connected start ROS subsystem using :ros2 launch geicar_start geicar.launch.py
  • Then, you will get a report of subsystems and be able to control the car using XBOX controler

• To turn off the car:

  • Use the red button as a switch to turn off the power.

###Use of this repository

• First of all, fork this repository to get yours.
• Then, clone your fresh and new repository on your computer: git clone https://github.com/<your id>/<your wonderful repo>
• Have a look in "general" directory for how to connect and work with your car
• For more 'in depth' documentation on a particular subsystem, have a look in following directories:
  • raspberryPI3: Everything about raspberry setup
  • nucleoL476: Stuff about GPS-RTK and IMU
  • nucleoF103: informations on motors control, main power and ultrasonics sensors
  • jetsonNano: Directory containing info on IA, Camera and Lidar
  • simulation: if you want to setup a carla simulation environment

warning You normally do not need to change firmware running in F103 and F476 boards. You main work is on the raspberry and jetson side.