Overview

Please see the README's located in each of the linked packages under Setup for more details.

Simulation instructions

Prerequisites

We assume you are running Ubuntu 18.04 and have ROS-melodic installed.

Please follow this guide for installing ROS-melodic. In short, you need to run these commands:

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

sudo apt install curl

curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -

sudo apt update

sudo apt install ros-melodic-desktop-full

sudo apt install python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential

Installation

Clone the repository:

git clone git@gitlab.lrz.de:00000000014ACFEA/autonomous-systems-2021-group-auto.git

Open a terminal and navigate to AdvancedChallenge1SimAndMapping/catkin_ws.

Run the below commands to fetch data from the submodules this project depends on:

git submodule init

git submodule update

Run catkin build to build the workspace.

Simulation

You will need five terminals. In each terminal, navigate to AdvancedChallenge1SimAndMapping/catkin_ws and run source devel/setup.bash.

In different terminals, run:

• roscore

• roslaunch simulation simulation.launch

• roslaunch controller_pkg controller.launch

• roslaunch mapping mapping.launch

• roslaunch navigation navigation.launch

Unity files

The raw unity files of the 200x200 environment can be downloaded from the following link:

• https://www.dropbox.com/s/e4onw7ebi0lk351/Unity.zip?dl=0

The pre-compiled 200x200 unity environment can be downloaded using the following link:

• https://www.dropbox.com/s/r5s11wxvnu4sm13/City_Scenary.zip?dl=0

The pre-compiled testing environment can be download using the following link:

• https://www.dropbox.com/s/0q4qdkgupfe19jt/City_Scenary.zip?dl=0