AMP Autonomous Software Stack v1

The first iteration of the Autonomous Software Stack (ASS) for the AMP go-kart. This version is focused on racing at the EVGrandPrix Autonomous Race.

Learn more about software v1 here.

Installing Dependencies

To install all necessary dependencies, run the following command at the top of the directory (in AMP-v1):

rosdep install --from-paths src --ignore-src -r -y

To learn more about rosdep, check out the ROS wiki.

Building

As mentioned in the ROS core tutorials on building packages, run the following two commands at the top of the directory (in AMP-v1) to build each of the ROS packages in our project.

catkin_make
source devel/setup.bash

Running

The preferred method for running the system in its various configurations si roslaunching with launch files located in src/kart_2dnav/launch/.

There are two main types of launch files:

• Simulation: Launch files that start with sim_ correspond to launching a configuration of our system in an RViz simulation.
• Physical: Launch files that start with kart_ correspond to launching a configuration of our system that is meant for physical testing.

All other launch files are either child launch files (i.e. used by other the sim and kart launch files to launch different sub-systems) or are archived.

For example, to run the simulation of the kart on the autocross map/track the command (after successfully building) is

roslaunch kart_2dnav sim_autocross_track.launch

See the individual launch files in src/kart_2dnav/launch/ for more info on the purpose/configuration of that launch file.

Troubleshooting

A secion outlining common issues and their fixes.

• If an error is encountered claiming that a number of packages were not found, or that modules are not present. Try updating all dependencies in the Kinetic ROS installation with:

rosdep update --include-eol-distros