ual-ecar-ros-pkg

ROS packages and config files for University of Almeria autonomous electric car (UAL eCar). Documentation for electrical connections, etc. are kept in a separate repo.

See docs for each individual node:

• ual_ecar_vehicle_controller: ROS node for UAL eCAR's steer driver ("caja blanca").
• joystick_driving: Manual joystick-based driving node.

Installation

• Install ROS
• Create a catkin workspace and clone this package:

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
catkin_init_workspace
git clone https://github.com/ual-arm-ros-pkg/ual-ecar-ros-pkg.git

• Install dependencies:

sudo apt-get install -y ros-${ROS_DISTRO}-hardware-interface \
  ros-${ROS_DISTRO}-transmission-interface  ros-${ROS_DISTRO}-controller-manager \
  ros-${ROS_DISTRO}-diagnostic-updater xutils-dev

• Install Phidgets drivers for ROS.
• Install arduino_daq (optional).
• Install Ackermann messages:

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

• Build:

cd ~/catkin_ws
catkin_make