This repository contains ROS packages for the RoboJackets RoboRacing team.
Most folders in this repository are ROS packages.
avc: This package contains mission code for the Sparkfun Autonomous Vehicle Challenge.
iarrc: This package contains mission code for the International Autonomous Robot Racing Challenge.
rr_common: This package contains general-purpose or mission-agnostic intelligence code.
rr_description: This package contains URDFs and meshes that describe the platform's layout.
rr_gazebo: This package contains resources for running the car in the Gazebo simulator.
rr_platform: This package contains code for interfacing with the various cars built and maintained by the team.
sandbox: This package contains utilities and non-ROS code. This includes tools for working with log files and the Arduino code for the car.
The following files and folders enable our continuous integration system.
- .circleci
- Dockerfile
-
Make sure you have the appropriate ROS version installed for your version of Ubuntu.
-
Clone this repo into the src directory of your catkin workspace.
-
Also clone https://github.com/intel-ros/realsense and https://github.com/ros-drivers/pointgrey_camera_driver into the same src directory
-
Install the remaining dependencies with the following command in your catkin workspace folder:
rosdep install --from-path src --ignore-src -y
-
Install python dependencies (for Python 2) which are not in ROS:
pip install keras tensorflow numpy pynput matplotlib
-
Install librealsense following the instructions at https://github.com/IntelRealSense/librealsense/blob/master/doc/distribution_linux.md
-
You should now be able to build the project by running
catkin_make
in the catkin_ws directory.
You can get started with the RoboRacing code base right away by launching our simulator!
The following command will load our platform in the Sparkfun AVC track:
roslaunch rr_gazebo macaroni_avc.launch
Then, the following command will start our race AI and drive the car around the track:
roslaunch avc avc.launch
Alternatively, you can control the car manually with a USB gamepad with this command:
roslaunch rr_platform joystick_driver.launch