forrest-z / micron_agv

f10agv

Installation

1. Install ROS: http://wiki.ros.org/kinetic/Installation/Ubuntu
2. Create catkin_ws and src folder and cd to it: mkdir -p catkin_ws/src && cd ~/catkin_ws/src
3. Clone this repository into catkin_ws/src
4. Copy the obstacle detector and imu package into this directory
5. Return to the root folder of catkin_ws cd ~/catkin_ws
6. Install dependencies: rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y
7. Install Armadilo C++ needed for obstacle detector library sudo apt install libarmadillo*
8. Install rosserial-arduino package: http://wiki.ros.org/rosserial_arduino/Tutorials/Arduino%20IDE%20Setup
9. catkin_make && source devel/setup.bash
10. Update udev rules and other configuration settings (refer to Documentation folder for more details)

Launch Files

There are 3 different launch files:

1. unit1/2/3.launch, which provides the ability for the robot to be driven
2. agvnavigation.launch, which provides autonomous capability for the robot
3. mavis1/2/3.launch, which launches both the above launch files in one go

To activate, roslaunch agv _____.launch
e.g. roslaunch agv mavis1.launch