This repository contains all the source code and design files for the work done by the ground vehicle sub-team in the Phase-VII of The Boeing Company's University Relation Program at IIT Kanpur called Abhyast.

The contents of the repository is available under the BSD-3-Clause.

How to use the repository?

1. Create a catkin worspace following the guidelines given here

mkdir -p ~/catkin_ws/src
catkin_init_workspace
cd ~/catkin_ws/
catkin_make

2. Clone this repository to your catkin workspace

cd ~/catkin_ws/src
git clone https://github.com/Boeing-Abhyast/Phase-VII.git
git submodule update --init --recursive

3. Install all dependency packages to run the repository

# TODO List
sudo apt-get install ros-kinetic-slam-gmapping     \
                     ros-kinetic-hector-slam       \
                     ros-kinetic-rtabmap-ros       \
                     ros-kinetic-laser-filters     \
                     ros-kinetic-find-object-2d    \
                     ros-kinetic-navigation        \
                     ros-kinetic-node-manager-fkie \
                     -y

4. To setup the hardware for Alpha, follow the instructions in the following documentations:

   • Setting Up Microsoft Kinect
   • Setting Up Hokuyo LIDAR

5. Build the package using catkin_make

cd ~/catkin_ws
# To maximize performance, build the workspace in Release mode
catkin_make -DCMAKE_BUILD_TYPE=Release

6. Launch the node_manager to use the gui for launching nodes

rosrun node_manager_fkie node_manager       

NOTE: The master level launch files are in the package alpha_master:

• For Simulation on Gazebo: sim_*.launch
• For Real World Implementation: real_*.launch

Additional ROS Packages required

• OpenSLAM GMapping
• Hector SLAM
• RGBD SLAM
• Laser Filters
• Find Object 2D
• Navigation Stack
• Node Manager
• Darknet YOLOv2

Team Members

Name	Department	Year
Mayank Mittal	Electrical Engineering	Y14
Ritwik Bera	Mechanical Engineering	Y14
Vikulp Bansal	Electrical Engineering	Y14
Tushar Aggarwal	Mechanical Engineering	Y14

In case of any queries, contact : Mayank Mittal