forked from xtdrone/XTDrone
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5.8 KiB
Markdown
136 lines
5.8 KiB
Markdown
# Cognitive and Autonomous Test Vehicle (CAT Vehicle) Testbed
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The CAT Vehicle is a ROS based simulator to facilitate the development of autonomous vehicle applications. This repository houses the files that utilize the Gazebo simulator, and additional interfaces to the physical CAT Vehicle Testbed available at the University of Arizona - Department of Electrical and Computer Engineering.
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# Dependencies
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* ROS
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* [obstaclestopper](https://github.com/jmscslgroup/obstaclestopper)
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* [control_toolbox](https://github.com/jmscslgroup/control_toolbox)
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* [sicktoolbox](https://github.com/jmscslgroup/sicktoolbox)
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* [sicktoolbox_wrapper](https://github.com/jmscslgroup/sicktoolbox_wrapper)
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* [stepvel](https://github.com/jmscslgroup/stepvel)
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* [cmdvel2gazebo](https://github.com/jmscslgroup/cmdvel2gazebo)
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* Controller manager (allows the car to move around with ROS messages)
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```shell
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sudo apt-get install ros-melodic-controller-manager
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sudo apt-get install ros-melodic-ros-control ros-melodic-ros-controllers
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sudo apt-get install ros-melodic-gazebo-ros-control
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sudo apt-get install libpcap-dev
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```
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# System Requirements
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* Ubuntu 18.04 LTS (We cannot guarantee if it works on any other version of Ubuntu)
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* RAM: 4GB required, > 8GB recommended.
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# Citing this work
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If you find this work useful please give credits to the authors and developers by citing:
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```json
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Rahul Bhadani, Jonathan Sprinkle, Matthew Bunting. "The CAT Vehicle Testbed:
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A Simulator with Hardware in the Loop for Autonomous Vehicle Applications".
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Proceedings 2nd International Workshop on Safe Control of Autonomous Vehicles (SCAV 2018),
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Porto, Portugal, 10th April 2018, Electronic Proceedings in Theoretical Computer Science 269,
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pp. 32–47. Download: http://dx.doi.org/10.4204/EPTCS.269.4.
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```
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bibtex:
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```
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@article{bhadani2018cat,
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title={{The CAT Vehicle Testbed: A Simulator with Hardware
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in the Loop for Autonomous Vehicle Applications}},
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author={Bhadani, Rahul and Sprinkle, Jonathan and Bunting, Matthew},
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journal={{Proceedings of 2nd International Workshop on Safe Control of Autonomous Vehicles
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(SCAV 2018), Porto, Portugal, 10th April 2018, Electronic Proceedings
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in Theoretical Computer Science 269, pp. 32–47}},
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year={2018}
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}
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```
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# What's new
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* Released for Ubuntu 18.04 LTS, ROS Melodic and Gazebo 9.0
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* Support for front camera
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* More stable vehicle dynamics
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* Bug fixes and improvements
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# How to use it
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## Installing ROS
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* Follow the steps mentioned in the [ROS wiki page](http://wiki.ros.org/melodic/Installation/Ubuntu%C2%A0) on how to install ROS Melodic.
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* In addition to that we are required to install some additional ros packages
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```shell
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sudo apt-get install ros-melodic-velodyne ros-melodic-novatel-span-driver
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```
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## Creating catkin workspace
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In order to use the catvehicle ROS package, you should work within a catkin workspace. If you do not already have one:
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```shell
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cd ~
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mkdir -p catvehicle_ws/src
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cd catvehicle_ws/src
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catkin_init_workspace
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cd ..
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catkin_make
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```
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At this point, you can extract this release package from [catvehicle-3.0.1](https://github.com/jmscslgroup/catvehicle/releases/download/3.0.1/catvehicle-3.0.1.tar.xz) and other dependent package into your src directory
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```shell
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cd ~/catvehicle_ws/src
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git clone https://github.com/jmscslgroup/catvehicle
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git clone https://github.com/jmscslgroup/obstaclestopper
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git clone https://github.com/jmscslgroup/control_toolbox
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git clone https://github.com/jmscslgroup/sicktoolbox
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git clone https://github.com/jmscslgroup/sicktoolbox_wrapper
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git clone https://github.com/jmscslgroup/stepvel
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git clone https://github.com/jmscslgroup/cmdvel2gazebo
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git clone https://github.com/jmscslgroup/velodyne
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cd ..
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catkin_make
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```
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## Sourcing workspace to the environment path
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```bash
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echo "source ~/catvehicle_ws/devel/setup.bash" >> ~/.bashrc
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```
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# Simple tutorial and examples
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Follow the tutorials on the CAT Vehicle Testbed group on the [CPS Virtual Organization](https://cps-vo.org/group/CATVehicleTestbed) to see how to use the testbed.
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# Issues
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If you run into a problem, please feel free to post to [issues](https://github.com/jmscslgroup/catvehicle/issues). If the issue is urgent, please email to catvehicle@list.arizona.edu.
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# Acknowledgements
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## License
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Copyright (c) 2013-2020 Arizona Board of Regents; The University of Arizona
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All rights reserved
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Permission is hereby granted, without written agreement and without
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license or royalty fees, to use, copy, modify, and distribute this
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software and its documentation for any purpose, provided that the
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above copyright notice and the following two paragraphs appear in
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all copies of this software.
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IN NO EVENT SHALL THE ARIZONA BOARD OF REGENTS BE LIABLE TO ANY PARTY
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FOR DIRECT, INDIRECT, SPECIAL, INCIDENTAL, OR CONSEQUENTIAL DAMAGES
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ARISING OUT OF THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN
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IF THE ARIZONA BOARD OF REGENTS HAS BEEN ADVISED OF THE POSSIBILITY OF
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SUCH DAMAGE.
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THE ARIZONA BOARD OF REGENTS SPECIFICALLY DISCLAIMS ANY WARRANTIES,
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INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY
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AND FITNESS FOR A PARTICULAR PURPOSE. THE SOFTWARE PROVIDED HEREUNDER
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IS ON AN "AS IS" BASIS, AND THE ARIZONA BOARD OF REGENTS HAS NO OBLIGATION
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TO PROVIDE MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS, OR MODIFICATIONS.
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## Authors and contributors
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* Jonathan Sprinkle (sprinkjm@email.arizona.edu)
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* Rahul Bhadani (rahulbhadani@email.arizona.edu)
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* Sam Taylor
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* Kennon McKeever (kennondmckeever@email.arizona.edu)
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* Alex Warren
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* Swati Munjal (smunjal@email.arizona.edu)
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* Ashley Kang (askang@email.arizona.edu)
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* Matt Bunting (mosfet@email.arizona.edu)
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* Sean Whitsitt
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## Support
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This work was supported by the National Science Foundation and AFOSR under awards 1659428, 1521617, 1446435, 1262960 and 1253334. Any opinions, findings, and conclusions or recommendations expressed in this material are those of the author(s) and do not necessarily reflect the views of the National Science Foundation.
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