RoverROS

A repository containing the source code of a Rover with a 5DOF manipulator.

Dependancies:

You will need to install the following:

ROS Melodic

sudo apt-get install ros-melodic-ackermann-msgs

sudo apt-get install ros-melodic-ros-control ros-melodic-ros-controllers

sudo apt-get install ros-melodic teleop-twist-keyboard Keyboard.py

##How to Build the Repo (Fresh Start)

1) Git clone https://github.com/mturktest123/RoverYuthika
2) Cd RoverYuthika
3) Git checkout thisisworking
4) Catkin init
5) Catkin clean
6) Catkin_make
7) source devel/setup.bash

##Launching Files For GPS Coordinate Navigation These launch files need to be executed in separate terminals

Each terminal should be sourced with this command -> source devel/setup.bash

`In the rover_gazebo_control package, waypoints.txt file is there, dummy waypoints are already there for testing`
To change the waypoints you need to give latitude and longitude coordinates around 49.9 and 8.9
If the given lat/lon is far the global planner will not be able to generate a path.



1) roslaunch rover_desc_pkg move_base_controller.launch
2) roslaunch rover_gazebo_control start_navsat.launch
3) roslaunch rover_gazebo_control gps_waypoint_nav.launch

##Launching Files for Tele-Operation These commands need to be executed in separate terminals

Each terminal should be sourced with this command -> source devel/setup.bash

This will allow you to teleoperate the rover as you play a need for speed game :D

1) roslaunch rover_desc_pkg rover_gazebo_control.launch
1) rosrun teleop_twist_keyboard teleop_twist_keyboard.py
2) roslaunch rover_desc_pkg teleop.launch