design3_ws

This repo contains the colcon workspace for the design3 project. Every ROS packages are cloned using submodules. It also includes a package 'design3_system' which has every launch files to properly start each subsystem

Demo

Features

• Path planning (using Djikstra Graph Shortest Path Algorithm)
• Wall Following
• Perception info analysis (Camera, Lidar)
• Other Vehicle Detection + Breaking

Installation

git clone --recurse-submodules git@github.com:GLO-3013-eq09/design3_ws.git
cd design3_ws
rosdep install --from-paths src -y --ignore-src --rosdistro=foxy --include-eol-distros

Setup the udev rules so that the lidar is on /dev/sensors/lidar with proper permissions

Launching the system

cd design3_ws
./build.bash
source source_ws.bash # Always source your workspace after a build
restart_design3 # This is an alias in bashrc for 'sudo systemctl restart design3-system.service'

Running tests and code coverage

./test.bash

Visualization

Prerequisite:

• Install Foxglove Studio on your personal machine

1. On your personal machine, connect to the robot's wifi (RoverTeam3)
2. On the robot, launch the whole system (You need the rosbridge which is launched with the startup script)
3. On your personal machine, open Foxglove and select Open connection to a robot > Rosbridge > http://192.168.12.1:9090
4. You should be able to visualize everything on the robot