DTUSDC's Software Stack

Welcome to the DTUSDC IGVC software repo!

This document will give you a brief description of the repo's layout and an overview of the repo.

Folder Structure

simulation Package to launch the simulation along with a test maze world and URDF
navigation Collection of nodes that form our navigation stack
encoder Nodes that form the arduino encoders.
perception Nodes and scripts that contain the perception pipeline.

Download the ros/navstack packages
```
sudo apt-get ros-melodic-navigation
```

Download and install gmapping:

sudo apt-get install ros-melodic-slam-gmapping

Clone the repository into the src directory of a catkin workspace:
```
git clone https://github.com/dtusdc/ros --recursive
```
Run catkin build in the workspace to build all the packages:
```
catkin build
```

Load up Rviz/Gazebo:

The following command will load the simulation along with the robot mesh:

roslaunch simulation simulation.launch

Load up Navigation:

The following command will load the navigation stack:

roslaunch navigation navigation.launch