Mar 29 Won Silver Medal on the 45th International Exhibition of Inventions of Geneva.

Mar 25 Transversal maneuvers realized through open-loop control only.

For Ubuntu and other Debian based users, please run the following command to ensure everything is set up:

sudo apt-get install g++ arduino libsdl2-dev
# Setup ROS
sudo sh -c 'echo "deb http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
sudo apt-get update
sudo apt-get install ros-kinetic-desktop-full
apt-cache search ros-kinetic
sudo rosdep init
rosdep update
sudo echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
source ~/.bashrc
# Additional Dependencies
sudo apt-get install python-rosinstall python-rosinstall-generator python-wstool build-essential
sudo apt-get install ros-kinetic-ecl-ipc ros-kinetic-rosserial-arduino ros-kinetic-rosserial rosbash ros-kinetic-rospack ros-kinetic-cv_bridge ros-kinetic-image-transport
sudo apt-get install libirrlicht-dev libglfw3 libglew-dev slurm swig libglm-dev #for Virtual Device Debugger.

Deprecated files containing no ROS modules, including the old steering wheel and Arduino utilities.

ROS implementation of the system. Catkin workspace.

IMPORTANT Please properly setup ROS (version: kinetic kame), please refer to official documents and tutorials at:

中文 English

ROS based Arduino code able to transmit data at 30Hz. Run ./bootstrap.sh (or the following command) to prepare the system.

sudo apt-get install ros-kinetic-rosserial-arduino
sudo apt-get install ros-kinetic-rosserial
sudo chmod 777 /usr/share/arduino/libraries/
cd /usr/share/arduino/libraries
rm -rf ros_lib
rosrun rosserial_arduino make_libraries.py .

Home to ROS packages and services. Currently including:

/ROS/src/steering_wheel: Steering Wheel Control Utilities which should read Logitech G29 data and publish it using custom message prescribed in msg/joyinfoex.msg under topic WheelControl, or in a situation where no steering wheel is found, uses keyboard as input device. ALL BUT force feedback are DONE.

/ROS/src/agile_v_core: Core of the Agile-V system, including communication handling, kinematic/dynamic controllers, GUI, etc.

/ROS/src/virtual_device_debugger: Simulator for the Agile-V system. Rely on Chrono Engine, Please compile and install Chrono with core, irrlicht, and parallel as suggested on This Page. Otherwise, please delete this folder before compilation.

Future packages: setup module which should be breaken away from steering_wheel, and vision navigation packages.

/ROS/src/agile_v_vision: Integration of OpenCV in libelas, merged libelas-gpu to implement CUDA, merged robotology/stereo-vision and working on migration from yarp to ROS interface. currently in , untested. Reference:

https://github.com/goldbattle/libelas-gpu https://github.com/robotology/stereo-vision

Logitech G29 drivers source and interface for force feedback.

run ./make.sh from this directory, and enter the USB address of Arduinos following the instructions on the screen.

run ./run.sh from this directory. If the systems detects Arduino's presence it will run the control program, otherwise it will run the virtual_device_debugger, which is unavailble without Chrono installed.