AutoRally

Software for the AutoRally research platform.

AutoRally Platform Website: http://autorally.github.io

AutoRally Research Website: http://rehg.org/autorally

Setup Instructions

Contents

1. Install Prerequisites
2. Clone repository
3. Compilation/Running
4. Generate Documentation
5. Test Setup in Simulation

1. Install Prerequisites

1. Install Ubuntu 14.04 64-bit

2. Install required packages

   sudo apt-get install git doxygen openssh-server libusb-dev

   Recommended Tools

   The following tools are useful, but not necessary for this project.

   • feh
   • cutecom
   • cmake-curses-gui
   • texinfo
   • coriander
   • synaptic
   • arduino
   • python-termcolor

   Compute Box Dependencies

   When installing software on an AutoRally compute box, include these dependencies as well:

   sudo apt-get install lm-sensors acpi gpsd-clients

3. Install ros-indigo-desktop-full

4. Install gtsam

   Follow the gtsam Quick Start guide to clone and install the develop branch of gtsam.

   Instead of cmake .., use:

   cmake -DGTSAM_INSTALL_GEOGRAPHICLIB=ON -DGTSAM_WITH_EIGEN_MKL=OFF ..

   Once install is complete, make sure linux can see the shared library:

   sudo ldconfig

2. Clone Repositories

Clone the autorally and imu_3dm_gx4 repositories into a catkin workspace. The suggested location is ~/catkin_ws/src/, but any valid catkin worskspace source folder will work.

git clone https://github.com/AutoRally/imu_3dm_gx4.git

git clone https://github.com/AutoRally/autorally.git

3. Install AutoRally ROS Dependencies

Within the catkin workspace folder, run this command to install the packages this project depends on.

rosdep install --from-path src --ignore-src -y

3. Compilation & Running

To compile and install run catkin_make from the catkin workspace folder.

Due to the additional requirement of ROS's distributed launch system, you must run source autorally/autorally_util/setupEnvLocal.sh before using any autorally components. For more information about how to set this system up for distributed launches on your vehicle platform, see the wiki.

Note: If you are unfamiliar with catkin, please know that you must run source <catkin_ws>/devel/setup.sh before ROS will be able to locate the autorally packages. This line can be added to your ~/.bashrc file.

4. Generate Documentation

You can generate / update code documentation by running doxygen in autorally/.

To view code documentation open autorally/doc/html/index.html in a web browser.

5. Test Setup in Simulation

To test that your setup process was successful, run the AutoRally simulator with the following command. If you have a USB gamepad, plug it in to your computer before launching this simulator. You will be able to drive the virtual platform around using this gamepad.

roslaunch autorally_gazebo autoRallyTrackGazeboSim.launch