igvc-2023-software

Intelligent Ground Vehicle Competition (Spring 2023) software for the Paradigm Engineering Student Group

Install

This repository contains the software for the 2023 IGVC (Intelligent Ground Vehicle Competition) developed by Paradigm Engineering.

Prerequisites

• ROS 2 Foxy Fitzroy installed. Follow the installation guide here.
• Make sure you have git installed on your system. If not, you can install it using sudo apt-get install git.

Get Nav2

mkdir -p ~/nav2_ws/src
cd ~/nav2_ws/src
git clone https://github.com/ros-planning/navigation2.git --branch <ros2-distro>-devel
cd ~/nav2_ws
rosdep install -y -r -q --from-paths src --ignore-src --rosdistro <ros2-distro>
colcon build --symlink-install

Installation

Follow these steps to set up the IGVC 2023 software on your machine:

1. Clone the repository:

git clone --recurse-submodules [email protected]:ParadigmEngineering/igvc-2023-software.git src/igvc-2023-software

2. Installing PCL ROS Package

Before building the project, make sure you have the ros-$ROS_DISTRO-pcl-ros package installed. Replace $ROS_DISTRO with our current ROS distribution (e.g., melodic, noetic, foxy, etc.).

sudo apt-get update
sudo apt-get install ros-$ROS_DISTRO-pcl-ros
sudo apt-get install ros-$ROS_DISTRO-pcl-conversions
sudo apt install ros-$ROS_DISTRO-spatio-temporal-voxel-layer
sudo apt-get install ros-$ROS_DISTRO-robot-localization
sudo apt-get install libjemalloc-dev

export LD_PRELOAD=/usr/lib/x86_64-linux-gnu/libjemalloc.so

source /opt/ros/foxy/setup.bash
source install/setup.bash

3. Install & Build

cd ~/igvc-2023-software
rosdep install --from-paths src --ignore-src -r -y
colcon build --symlink-install

4. Launch

ros2 launch boat2023_nav2 carla_nav2.launch.py