autonav_software_2023

Software for the 2023 Intelligent Ground Vehicle Competition, AutoNav challenge, the Weeb Wagon.
We are using ROS2 Humble on Ubuntu 22.04.

Dependencies

To setup all dependencies, run the following two commands. It is CRITICAL you do NOT run these commmands as sudo

cd setup
echo "machine files.dylanzeml.in login <user> password <password>" > vectorsecrets.txt
./setup.sh

Building

source /opt/ros/humble/setup.bash
cd autonav_ws
colcon build
source /install/setup.bash

Autonomous/Manual

Follow the steps in building and then run the following command

ros2 launch autonav_launch competition.xml

or

ros2 launch autonav_launch practice.xml

Simulation

Follow the steps in building and then run the following command

ros2 launch autonav_launch simulation.xml

VSCode

To edit the software with Visual Studio Code, please install the ros extension and open VSCode through the command line via code after running all steps under Building. To get proper intellisense for C++, create the following file: .vscode/c_cpp_properties.json

{
    "configurations": [
        {
            "name": "Linux",
            "includePath": [
                "${workspaceFolder}/**",
                "/opt/ros/humble/include/**"
            ],
            "defines": [],
            "compilerPath": "/usr/bin/gcc",
            "cStandard": "c17",
            "cppStandard": "gnu++17",
            "intelliSenseMode": "linux-gcc-x64"
        }
    ],
    "version": 4
}