AgileVehicle

The AgileVehicle Project, an automated road vehicle that take you wherever your destination is in whatever attitude you want.

Coming soon.

##Linux Prerequisites For Ubuntu and other Debian based users, please run the following command to ensure everything is set up:

sudo apt-get install g++ arduino libsdl2-dev

##Directory Structure

####/SteeringWheelControl Controlling the suspnsion-motor assembly with Logitech G29 and Arduino. Added force feedback but not tested.

####/Arduino The Arduino code for the function above.

####/ROS ROS implementation of the system. Catkin workspace.

IMPORTANT Please properly setup ROS (version: kinetic kame), please refer to official documents and tutorials at:

中文 English

#####/ROS/Arduino ROS based Arduino code able to transmit data at 30Hz. Run ./bootstrap to prepare the system.

#####/ROS/src Home to ROS packages and services. Currently including:

/ROS/src/steering_wheel: Steering Wheel Control Utilities which should read Logitech G29 data and publish it using custom message prescribed in msg/joyinfoex.msg under topic WheelControl (DONE), or in One-Wheel-Debug mode, publish directly to WheelControl topic which is an Int32MultiArray and directly received by Arduino, see Arduino code for reference (UNDONE).

/ROS/src/dyna_core: dynamic/kinematic control algorithms which subscribes the data from Arduino at four wheels and topic WheelControl, calculates the state of the vehicle, and publish data under WheelControl topic. NOT INITIALLIZED YET.

Future packages: setup module which should be breaken away from steering_wheel, and vision navigation packages.

####/libelas Integration of OpenCV in libelas, merged libelas-gpu to implement CUDA, merged robotology/stereo-vision and working on migration from yarp to ROS interface. Untested.

Reference:

https://github.com/goldbattle/libelas-gpu https://github.com/robotology/stereo-vision

####/LogitechFFDrivers Logitech G29 drivers source and interface for force feedback.