wasp-challenge

WASP Challenge for the Autonomous Systems Course Fall 2016.

Group 1 - Lund University

• David Gillsjö
• Victor Millnert
• Christian Nelson
• Hamed Sadeghi
• Per Skarin
• Alfred Åkesson

Dependencies

Using Ubuntu 14.04 and ROS Indigo Full.

Turtlebot packages

sudo apt-get install ros-indigo-turtlebot ros-indigo-turtlebot-apps ros-indigo-turtlebot-interactions ros-indigo-turtlebot-simulator ros-indigo-kobuki-ftdi ros-indigo-rocon-remocon ros-indigo-rocon-qt-library ros-indigo-ar-track-alvar-msgs

ROSPlan

For the ROSPlan Package depends on the following package to fully function.

sudo apt-get install flex ros-indigo-mongodb-store ros-indigo-tf2-bullet freeglut3-dev

It is important to don't have a mongodb service running. Ubuntu has this as default. If

roslaunch wasp_g1_start rosplan_test.launch

fails, then it is most likely due too a running instance of mongodb. Then run

sudo service mongodb stop

Simulator

The simulator uses the Parrot AR.Drone, not Bebop, and the thinc_simulator package. There is a bash script startsim.sh on the source root which launches a simulator environment.

sudo apt-get install ros-indigo-turtlebot-gazebo ros-indigo-ardrone-autonomy ros-indigo-parrot-arsdk ros-indigo-zeroconf-avahi

Directory Contents

src/

• startsim.sh Starts simulator environment. It's a bash script since timing is an issue.
• bebop_controller/ Provides an action server and controllers for the Bebop drone.
• coordinator/ Provides a coordinator node which distributes actions (from ROSPlan etc) to agents. The coordinator should also feedback information to the planner state.
• keys/ SSH keys used in the lab setup. THESE KEYS MUST NOT BE USED WITH ANY SENSITIVE SYSTEM!
• rmote/ Remote roslaunch
• util/ Lab environment utilities.
• wasp_g1_start/ The turtlebot files.
• world/ Contains code to locate things in the world. This currently entails the April tag detection used to position agents.

---

• actionlib/
  • git submodule providing a standardized interface for interfacing with preepmtable tasks.
  • http://wiki.ros.org/actionlib
• bebop_autonomy/
  • git submodule (forked) ROS driver for the Parrot Bebop drone.
  • http://wiki.ros.org/bebop_autonomy
• multiple_bebops/
  • git submodule used to connect drones to a network access point.
  • https://github.com/tnaegeli/multiple_bebops
• occupancy_grid_utils/
  • git submodule ROSPlan dependency.
  • https://github.com/KCL-Planning/rosplan
• rosplan/
  • git submodule (forked); the planning framework ROSPlan.
  • https://github.com/KCL-Planning/rosplan
• rplidar_ros/
  • git submodule; LiDAR driver package.
  • https://github.com/robopeak/rplidar_ros.git
• thinc_simulator/
  • git submodule for AR-Drone simulation.
  • https://github.com/thinclab/thinc_simulator