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WASP Challenge for the Autonomous Systems Course Fall 2016

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wasp-challenge

WASP Challenge for the Autonomous Systems Course Fall 2016.

Group 1 - Lund University

  • David Gillsjö
  • Victor Millnert
  • Christian Nelson
  • Hamed Sadeghi
  • Per Skarin
  • Alfred Åkesson

Dependencies

Using Ubuntu 14.04 and ROS Indigo Full.

Turtlebot packages

sudo apt-get install ros-indigo-turtlebot ros-indigo-turtlebot-apps ros-indigo-turtlebot-interactions ros-indigo-turtlebot-simulator ros-indigo-kobuki-ftdi ros-indigo-rocon-remocon ros-indigo-rocon-qt-library ros-indigo-ar-track-alvar-msgs

ROSPlan

For the ROSPlan Package depends on the following package to fully function.

sudo apt-get install flex ros-indigo-mongodb-store ros-indigo-tf2-bullet freeglut3-dev

It is important to don't have a mongodb service running. Ubuntu has this as default. If

roslaunch wasp_g1_start rosplan_test.launch

fails, then it is most likely due too a running instance of mongodb. Then run

sudo service mongodb stop

Simulator

The simulator uses the Parrot AR.Drone, not Bebop, and the thinc_simulator package. There is a bash script startsim.sh on the source root which launches a simulator environment.

sudo apt-get install ros-indigo-turtlebot-gazebo ros-indigo-ardrone-autonomy ros-indigo-parrot-arsdk ros-indigo-zeroconf-avahi

Directory Contents

src/

  • startsim.sh Starts simulator environment. It's a bash script since timing is an issue.
  • bebop_controller/ Provides an action server and controllers for the Bebop drone.
  • coordinator/ Provides a coordinator node which distributes actions (from ROSPlan etc) to agents. The coordinator should also feedback information to the planner state.
  • keys/ SSH keys used in the lab setup. THESE KEYS MUST NOT BE USED WITH ANY SENSITIVE SYSTEM!
  • rmote/ Remote roslaunch
  • util/ Lab environment utilities.
  • wasp_g1_start/ The turtlebot files.
  • world/ Contains code to locate things in the world. This currently entails the April tag detection used to position agents.

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