auton_sys-23

Auton Mission Repo for URC 2023

Contributors:

Name	Email	Role
Tanmay Bishnoi	[email protected]	Lead Engineer
Ryan	[email protected]	Support Engineer
Eleanor	[email protected]	Support Engineer

Capabilities

Listed below are the features/capabilities of the current system:

1. Miniwalk
2. Multiwalk (Search pattern)
3. ARUCO detection, centering, and approach

About Usage:

The software has two indepedent but connected components: base and rover systems. The instructions to run both of them sit in their respective folders. The utils/install contains a setup.bash to enable custom ROS 2 interfaces for this repo. Any terminal running our nodes will need to enter the following command on startup.

. utils/install/setup.bash

(written here w.r.t root of the directory)

Devices Setup

Networking

Current Networking Setup

tanmay's winPC
ip:			172.17.255.9

tanmay's ROS-VM 
ip:			172.17.255.10

Xavier
ip: 			172.16.255.25
default dns: 	172.16.255.1

subnet on all devices
255.240.0.0

Installations/Dependencies

<add ros2 installs>
<add cv2 install>
<add gstreamer install>
<add vnpy installation>

sudo apt-get install python3-pil python3-pil.imagetk
pip install tkintermapview
pip install pygame
pip install tkinter

Prototyping Documentation

UI:
https://www.figma.com/file/ip6mJr0MV8HCT5906CQ1Ye/Auton-ROS-GUI?node-id=0%3A1