RoboJackets IGVC

Welcome to the RoboJackets IGVC software repo! This document will give you a brief description of the repo's layout and some simple instructions for building the documentation and project. For more detailed information, please visit wiki.robojackets.org

For online API documentation generated by Doxygen, go to robojackets.github.io/igvc-software/

Folder Structure

The repo is comprised of two ROS packages and one sandbox folder for miscelaneous resources. FOLDERS

• igvc This is the primary ROS package that houses all of our source code.
  • launch This folder holds all of our ros launch files that start one or more ros nodes
  • src This folder contains ros nodes which does all the computation and is modular
• igvc_msgs This package defines custom message types for our code.
• sandbox This folder contains miscelaneous resources. This includes source code for our robot's Arduinos and Ardupilot IMU, udev rules for our robot's hardware, and other files.

Building Documentation

Documentation for our code can be generated via the rosdoc_lite tool.

Building Code

This repository should be cloned into the src directory of a catkin workspace. Use catkin_make in the workspace directory to build the code. Dependencies can be installed by rosdep install packageName on packages igvc, igvc_control, and igvc_description . (NOTE: Be sure to source devel/setup.sh before referencing the igvc or igvc_msgs packages.)

Join the chat at https://robojackets.slack.com/

Node Overview

• ardupilot Used for reading velocity and acceleration of robot from IMU
  • Publishes:
    • imu <sensor_msgs::Imu>
  • Devices:
    • /dev/igvc_imu
• joystick_driver Configures joystick controls
  • Publishes:
    • motors <igvc_msgs::velocity_pair>
  • Subscribes:
    • joy <sensor_msgs::Joy::ConstPtr>
• light_controller Controls Lights and EStop
  • Publishes:
    • robot_enabled <Bool>
    • battery <UInt8>
  • Subscribes:
    • lights <igvc_msgs::lightsConstPtr>
  • Devices:
    • /dev/igvc_light_arduino
• line_detector Processes image data to find the white lines
  • Publishes:
    • filt_img <sensor_msgs::ImageConstPtr>
    • line_cloud <PCLCloud>
  • Subscribes:
    • image_raw <sensor_msgs::ImageConstPtr>
• local_mapper Transforms one or more given point clouds locally
  • Publishes:
    • map <PointCloud<PointXYZ>>
  • Subscribes:
    • (dynamic) <PointCloud<PointXYZ>::ConstPtr>
• mapper Transforms one or more given point clouds
  • Publishes:
    • map <PointCloud<PointXYZ>>
  • Subscribes:
    • (dynamic) <PointCloud<PointXYZ>::ConstPtr>
• motor_controller Processes data from motors and encoders
  • Publishes:
    • encoders <igvc_msgs::velocity_pair>
  • Subscribes:
    • motors <igvc_msgs::velocity_pair::ConstPtr>
    • robot_enabled <std_msgs::BoolConstPtr>
  • Devices:
    • /dev/igvc_motor_arduino
• odometer Converts wheel velocities to odometry message
  • Publishes:
    • odometry <nav_msgs::Odometry>
  • Subscribes:
    • encoders <igvc_msgs::velocity_pair>
• path_follower Sends instructions to motors from the current path
  • Publishes:
    • motors <velocity_pair>
    • lights <lights>
  • Subscribes:
    • path <action_pathConstPtr>
• pathplanner Finds the best path based on current orientation, map, and waypoint
  • Publishes:
    • path_display <nav_msgs::Path>
    • path <igvc_msgs::action_path>
    • expanded <pcl::PointCloud<pcl::PointXYZ>>
  • Subscribes:
    • map <pcl::PointCloud<pcl::PointXYZ>::ConstPtr>
    • odom_combined <geometry_msgs::PoseStampedConstPtr>
    • waypoint <geometry_msgs::PointStampedConstPtr>
• pidtester Tests pid by setting velocity to 1 then back to 0
  • Publishes:
    • motors <velocity_pair>
  • Subscribes:
    • robot_enabled <std_msgs:BoolConstPtr>
    • encoders <velocity_pairConstPtr>
• pose_tracker Transforms orientation and position based on imu and gps
  • Publishes:
    • odom_combined <geometry_msgs::PoseStamped>
    • map_origin <geometry_msgs::PointStamped>
  • Subscribes:
    • imu <sensor_msgs::ImuConstPtr>
    • gps_odom <nav_msgs::OdometryConstPtr>
• pothole_detector
  • Publishes:
    • pothole_filt_img <sensor_msgs::ImageConstPtr>
    • pothole_thres <sensor_msgs::ImageConstPtr>
    • pothole_cloud <PCLCloud>
  • Subscribes:
    • usb_cam/image_raw <sensor_msgs::ImageConstPtr>
• rviz_plugins Custom plugins for rviz
  • Subscribes:
    • battery <std_msgs::UInt8>
    • robot_enabled <std_msgs:Bool>
    • encoders <igvc_msgs::velocity_pair>
• scan_to_pointcloud Converts Lidar scan to point cloud
  • Publishes:
    • scan/pointcloud <PointCloud<PointXYZ>>
  • Subscribes:
    • scan <sensor_msgs::LaserScan::ConstPtr>
• serial
• system_stats
• tests
  • Publishes:
    • joy <sensor_msgs::Joy>
  • Subscribes:
    • motors <igvc_msgs::velocity_pair::ConstPtr>
• waypoint_source
  • Publishes:
    • waypoint <PointStamped>
  • Subscribes:
    • odom_combined <geometry_msgs::PoseStampedConstPtr>
    • map_origin <geometry_msgs::PointStampedConstPtr>