SRC2-driving stack

Launch the sim

~/srcp2-final-public/docker/scripts/run_srcp2_final -C ~/srcp2-final-public/config/default_config.yaml

Installing the packages

Open another terminal and download the SRC2_driving stack.

cd ~/srcp2-final-public/cmp_workspace/src
git clone https://github.com/wvu-navLab/SRC2-driving.git

Login to Docker enviroment.

~/srcp2-final-public/docker/scripts/run_comp_final -d -i
source ~/ros_workspace/install/setup.bash

Build and source the packages.

cd ~/cmp_workspace
catkin build
source devel/setup.bash

Running and testing the nodes

Use the launch files substituting the parameter {rover_type}:scout, excavator, hauler.

To run the teleop:

export ROS_MASTER_URI=http://172.18.0.2:11311
roslaunch teleop_modes {rover_type}_teleop_modes

To run the 4WS controllers:

export ROS_MASTER_URI=http://172.18.0.2:11311
roslaunch driving_control {rover_type}_driving_control