Simulator that allows testing of algorithms for the IARC Mission 7 competition
This repository is part of the Pitt RAS effort for IARC Mission 7. For an overview of the IARC competition as well as the team's efforts and technical approaches, check out our team website, and in particular the technical postmortem post for the project.
For other IARC teams finding this repository, we've made it public intentionally. We would love for you to take a look around and send us any questions you have (or any bugfixes you develop). This code is open source and free to use under the GPL, but we do ask that other IARC teams using this code or ideas taken from it cite the Pitt Robotics and Automation Society and do not present the work or the ideas contained within it as their own.
See https://github.com/Pitt-RAS/iarc7_common for install instructions.
There's a roslaunch file in launch/ that has everything you need to run the simulator. Just run roslaunch iarc7_simulator morse.launch, and it will bring everything up. If it can't find the simulator, make sure you have sourced the setup script from devel in the shell you're using.
The roomba control script can be run with rosrun iarc7_simulator roomba_controller.py after you've launched the simulator. When you want the roombas to start moving, run the script. The quadcopter can be controlled via the two uav topics in ROS, the same ones that fc_comms uses.
The sensors currently available are the Lidar-Lite, VL53L0X, an accelerometer, five cameras, foot switches, and RPLIDAR A2. The appropriate measurements are all published on the appropriate topics in ROS. To adjust the positioning of the sensors on the quadcopter, or to add more sensors, edit sim/src/sim/builder/Quadcopter.py. To adjust the positioning of the robots, edit sim/default.py.