2020_rover

Setup and Installation

Ensure that you have a working ROS Melodic installation. Install dependencies by:

sudo apt-get install ros-melodic-ros-control ros-melodic-ros-controllers

If you don't have a catkin workspace, create one as follows:

mkdir -p ~/rover_ws/src
cd ~/rover_ws
catkin init

Clone catkin_simple for build dependency into your workspace:

cd ~/rover_ws/src
git clone https://github.com/catkin/catkin_simple

You can either clone this repository directory or use your own personal fork(recommended, see below):

cd ~/rover_ws/src
git clone https://github.com/RoboticsClubIITK/2020_rover

To run the voxblox planner, install Voxblox and its dependencies in the same workspace.

Build all packages in the workspace using catkin build 2020_rover.

Usage

In a new terminal, source your workspace:

source ~/rover_ws/devel/setup.bash

Launch the environment using:

roslaunch rover_sim default.launch

Maintaining your Fork

Set up an upstream remote so that you can keep your fork updated with this repository. Follow these steps:

1. First, create a fork using the Fork button on the top-right. This will create a copy of the same repo on your GitHub account.

2. Clone your fork into your workspace

cd ~/rover_ws/src
git clone https://github.com/$YOUR_USERNAME/2020_rover

3. The default remote that points to your repository and allows you to push your changes to your repository is origin. We'll add another remote upstream that will keep track of changes made to this repository.

cd ~/rover_ws/src/2020_rover
git remote add upstream https://github.com/RoboticsClubIITK/2020_rover

4. To fetch changes from upstream to your local copy, do git fetch upstream.

5. To update your fork with changes from this repository, do the following:

git merge upstream/master # Merge the upstream's master into your own origin/master
git push origin master    # Push local changes to GitHub

Credits

Meshes and Gazebo objects sourced from https://github.com/Christopheraburns/AWS-JPL-OSR-Challenge We used Voxblox for TSDF generation for path planning.