f110-skeletons-spring2019

Skeleton codes for F110 Spring 2019 course at Oregon State University.

In order to add the contents of this repository to your workspace on your local machine, do the following:

Clone this repository into a folder on your computer

$ cd ~/sandbox (or whatever folder you want to work in)
$ git clone https://github.com/sabotagelab/f110-skeletons-spring2019.git

We begin by creating a workspace. You can call your workspace anything, for the purposes of this setup guide we call our workspace f110_ws. In your root folder, execute these commands:

$ mkdir -p ~/f110_ws/src

Copy the contents of this repository into ~/f110_ws/src

$ cp -r f110-skeletons-spring2019 f110_ws/src

You will need to install these with apt-get in order for the car and Gazebo simulator to work.

$ sudo apt-get install ros-kinetic-ros-control ros-kinetic-ros-controllers ros-kinetic-gazebo-ros-control ros-kinetic-ackermann-msgs ros-kinetic-joy

Make all the Python scripts executable (by default they are set to non-executable when downloaded from Github, or anywhere for that matter)

find . -name "*.py" -exec chmod +x {} \;

Then build:

$ cd ~/f110_ws
$ catkin_make

The generated devel and build folders at the root of the workspace are where the linked libraries and the compiled code in machine language resides. Source the environment using

$ source devel/setup.bash

You can now run a launch file using the following.

$ roslaunch gap_finding gap_finding_sim.launch

TROUBLESHOOTING If for some reason you get a build error, try deleting the CMakeLists.txt file and running catkin_make again.