This project runs on ROS melodic for Ubuntu 18.04 LTS. Photon is a robot being built to compete in IARRC.
This is dependent on what OS and computer is currently used.
The following instructions are taken from the ROS wiki install melodic page:
# Set up sources.list
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
# Set up keys
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
# Melodic Desktop-Full Install
sudo apt install ros-melodic-desktop-full
# Environment setup
echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
source ~/.bashrc
# Dependencies for buiding packages
sudo apt install python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential
sudo rosdep init
rosdep update
Provides the Ackermann Steering controller used to move the robot.
sudo apt-get install ros-melodic-ackermann-steering-controller
Provides the Navigation Stack package which is used for autonomous navigation.
sudo apt-get install ros-melodic-navigation
Provides the Robot Localization package which is used for localizing the robot.
sudo apt-get install ros-melodic-robot-localization
Custom built worlds representing the IARRC competition can be found in the /worlds
package. To install them for use in the Gazebo simulator, run the install.sh
script found in the /worlds
folder.
NOTE: The install script copies specific contents of
/worlds/models
to~/.gazebo/models
Before cloning this repository, create a ROS workspace:
mkdir -p photon-ws/src
cd photon-ws
catkin_make
After, clone this repository into the /src
folder.
Optionally (preferred): clone this repository as your source folder, i.e. rename
/Photon
to/src
University of Toronto Robotics Association
Autonomous Rover Team