Repo for UTSA's R5 Robotics Comp Robot

📦 Package Overview

AAV

• aav.repos: VCS install of other required packages for AAV
• aav_control: Package for control of tello drone
• aav_description: URDF description of AAV

AGV

• agv.repos: VCS install of other required packages for AGV
• agv_base: Hardware drivers and MCU code
• agv_bringup: Launch files to bring up the hardware driver nodes (cameras, microcontroller, etc.) as well as the C++ nodes from the agv_base package for the real robot.
• agv_control: Package for ROS control implementation and control inputs (keyboard
• agv_description: URDF description of AGV including its sensors.
• agv_metapkg: ROS metapkg convention for easy install of whole ROS stack
• agv_msgs: Message definitions specific to AGV, for example the message for encoder data
• agv_navigation: Navigation package for implementationof ROS Nav stack

General

• perception_utils: Utility package for Robot's perception systems
• obj_detection: Identification package of key competition objects (Boxes, box faces, gaffer tape on carpet, AGV, and AAV)
• autonomy: State code package for both AAV and AGV
• misc: Holds all previous repo files. Need to sort and clean...
• docs: General notes, images, and documents related to Robot's development

Installation

• cd to your workspace's src directory

git clone https://github.com/UTSARobotics/R5Robot_22-23.git

• Install some dependencies

sudo apt-get install -y \
ros-noetic-roslint \
ros-noetic-rosserial \
ros-noetic-rosserial-arduino \
ros-noetic-imu-filter-madgwick \
ros-noetic-gmapping \
ros-noetic-map-server \
ros-noetic-navigation \
ros-noetic-robot-localization \
ros-noetic-tf2 \
ros-noetic-tf2-ros