Welcome to the RoboJackets IGVC software repo! This document will give you a brief description of the repo's layout and an overview of the repo. For more detailed information, check out the github wiki or the RoboJackets wiki.
The repo is comprised of multiple ROS packages and one sandbox folder for miscellaneous resources.
For an installation guide for ROS, check out the installation guide on the RoboJackets wiki.
Clone the repository (with the git submodules) into the src directory of a catkin workspace:
git clone https://github.com/RoboJackets/igvc-software --recursive
Install dependencies:
cd igvc-software
./install_dependencies.sh
Use catkin_make
in the workspace to build all the packages:
catkin_make
Make sure the devel/setup.bash
is sourced before using any of the nodes in this package:
source devel/setup.bash
Could not find a package configuration file provided by "parameter_assertions" with any of the following names:
parameter_assertions
comes from a git submodule. Initialize the submodules by doing
git submodule update --init --recursive
Could not find a package configuration file provided by "XXXX" with any of the following names:"
rosdep install --from-paths src --ignore-src
in the catkin_ws
folder alreadyYou can get started with the IGVC code base right away by launching our simulator!
Load up Swervi: The following command will load our platform into a simulated IGVC qualifications course:
roslaunch igvc_gazebo qualification.launch
Navigate the course: After launching the gazebo simulation, launch the navigation stack for simulation:
roslaunch igvc_navigation navigation_simulation.launch
Alternatively, you can control the robot manually with a USB gamepad with this command:
roslaunch igvc_platform joystick_driver.launch
To view the software repository for our past differential drive robot, Jessiii, checkout the jessiii-dev
branch.
Join the chat here!