DTUSDC's Software Stack

Welcome to the DTUSDC IGVC software repo!

This document will give you a brief description of the repo's layout and an overview of the repo.

Folder Structure

• simulation Package to launch the simulation along with a test maze world and URDF
• navigation Collection of nodes that form our navigation stack
• encoder Nodes that form the arduino encoders.
• perception Nodes and scripts that contain the perception pipeline.

Prerequisites

1. Download the ros/navstack packages

   sudo apt-get ros-melodic-navigation

2. Download and install gmapping:

   sudo apt-get install ros-melodic-slam-gmapping

Building Code

1. Clone the repository into the src directory of a catkin workspace:

   git clone https://github.com/dtusdc/ros --recursive

2. Run catkin build in the workspace to build all the packages:

   catkin build

Running Gazebo

Load up Rviz/Gazebo:

The following command will load the simulation along with the robot mesh:

roslaunch simulation simulation.launch

Load up Navigation:

The following command will load the navigation stack:

roslaunch navigation navigation.launch

Maintainers

• Ayaan Zaidi
• Tanmay Jain
• Krushnal Patel