f110-fall2018-course

Skeleton codes for F110 Fall 2018 course at UPenn.

In order to add the contents of this repository to your workspace on your local machine, do the following:

Clone this repository into a folder on your computer

$ cd ~/sandbox (or whatever folder you want to work in)
$ git clone https://github.com/mlab-upenn/f110-fall2018-skeletons.git

We begin by creating a workspace. You can call your workspace anything, for the purposes of this setup guide we call our workspace f110_ws. In your root folder, execute these commands:

$ mkdir -p ~/f110_ws/src

Copy the contents of this repository into ~/f110_ws/src

$ cp -r f110-fall2018-skeletons f110_ws/src

You will need to install these with apt-get in order for the car and Gazebo simulator to work.

$ sudo apt-get install ros-kinetic-ros-control ros-kinetic-ros-controllers ros-kinetic-gazebo-ros-control ros-kinetic-ackermann-msgs ros-kinetic-joy

Make all the Python scripts executable (by default they are set to non-executable when downloaded from Github, or anywhere for that matter)

find . -name "*.py" -exec chmod +x {} \;

Then build:

$ cd ~/f110_ws
$ catkin_make

The generated devel and build folders at the root of the workspace are where the linked libraries and the compiled code in machine language resides. Source the environment using

$ source devel/setup.bash

You can now run a launch file using the following.

$ roslaunch gap_finding gap_finding_sim.launch

TROUBLESHOOTING If for some reason you get a build error, try deleting the CMakeLists.txt file and running catkin_make again.