This repository contains packages developed for proposed USAN architecture, developed during summer'19
These instructions will get you a copy of the project up and running on your local machine for development and testing purposes.
What things you need to install the software and how to install them
*leggedrobotics/darknet_ros
*angusleigh/leg_tracker
*rplidar_ros
*rosaria
### Installing
All their packages can be installed from their github repos.
When installing rosaria:
Install libaria: header files
https://web.archive.org/web/20180205212122/http://robots.mobilerobots.com/wiki/Aria
This is the archive. Download based on the description of your machine.
Then do a git clone of the rosaria pacakge (linked below)
https://github.com/amor-ros-pkg/rosaria
Need to be done in this order
## Running
Follow the instructions below:
To launch the picture frame localization: run the following commands...
- roslaunch usb_cam usb_cam-test.launch
- roslaunch darknet_ros yolo_v3_custom.launch
- rosrun cam_angle image_sub.py
- rosrun box_sub box_subscriber
To launch the P3DX Navigation ...
- roslaunch pioneer_nav pioneer_nav.launch
- rosrun rosaria Rosaria
- roslaunch p3dx_description rviz.launch
Make sure laser is USB 0 and the USB to serial cable from the pioneer is USB1. Always configure it using:
- chmod a+rw /dev/ttyUSB0
- chmod a+rw /dev/ttyUSB1
In order to make a map
- roslaunch teleop_twist_joy teleop.launch (Press the LB and the arrow keys in order to move the robot around)
- roslaunch gmapping slam_gmapping_pr2.launch
## Authors
* **Fausto Vega** - *REU student* - [Link](https://github.com/vegaf1)
* **Santosh Balajee Banisetty** - *Grad Mentor* - [Link](https://github.com/SantoshBanisetty)
See also the list of [contributors](https://github.com/your/project/contributors) who participated in this project.
## Acknowledgments
* Hat tip to anyone whose code was used
* Inspiration
* etc