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cirkit_unit03_banner.jpg

CIR-KIT-Unit03

ROS Software Maintainer: CIR-KIT

Summary

CIR-KIT-Unit03 is fully integrated with steering mechanism including ros_control, recovery behavior of move_base. This robot is designed for Tsukuba Challenge (Japanese Page), which is an autonomous driving robot challenge in city streets, and achieved the milestone 3 (completion of 2 km autonomous driving) in Tsukuba Challenge 2016 (Japanese Page).

Installation

In order to install the CIR-KIT-Unit03 related software on your control computer, first ensure that you are using Ubuntu 14.0.4 LTS, and have ROS Indigo installed. Then grab the CIR-KIT-Unit03 packages:

1. Clone the whole application repository.

cd <catkin_ws>/src
git clone https://github.com/CIR-KIT-Unit03/cirkit_unit03_apps.git

2. Run install script.

cd <catkin_ws>/src/cirkit_unit03_apps
sh install.sh

Whole Software and Hardware Configuration

The following figure describes full configuration of hardware and software of CIR-KIT-Unit03. We largely refer to the figure of integrating Gazebo and ros_control in Gazebo Tutorial page.

CIR-KIT-Unit03_whole_configuration

Modules with the blue boxes with comment New are our self created components, including nodes and plugins.

Simulation

Whether you are waiting for your robot to arrive, or just interested in ROS development, CIR-KIT-Unit03's simulation comes fully equipped to get you started. Please see the cirkit_unit03_simulator page.

Tutorials

See CIR-KIT-Unit03's tutorials located cirkit_unit03_tutorial.

Packages

Function specific packages

Item

Metapackage

Packages

Common:

cirkit_unit03_common:

cirkit_unit03_control | cirkit_unit03_description

Navigation:

cirkit_unit03_navigation:

cirkit_unit03_amcl | cirkit_unit03_gmapping | cirkit_unit03_move_base

Real Robot:

cirkit_unit03_robot:

cirkit_unit03_base | cirkit_unit03_bringup

Simulator:

cirkit_unit03_simulator:

cirkit_unit03_gazebo

Container packages

Container packages possess .rosinstall to clone required packages.

Item

Container package

Base packages:

cirkit_unit03_pkgs

Application packages:

cirkit_unit03_apps

Dependent packages

Item

Metapackage

Packages

Steer drive:

steer_drive_ros:

steer_drive_controller | steer_bot_hardware_gazebo | stepback_and_steerturn_recovery

Navigation:

cirkit_waypoint_manager:

cirkit_waypoint_generator | cirkit_waypoint_navigator

Msg:

no metapackage:

waypoint_manager_msgs

Human detection:

human_detector:

target_obejct_detector | fake_target_detector | human_model_gazebo

LRF Modifier:

no metapackage:

lower_step_detector

Utility:

no metapackage:

timed_roslaunch

Remote Monitoring:

no metapackage:

remote_monitor


2019-10-19 12:27