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Welcome to the iarrc-software wiki!

Before you begin, take this with you.

Office hours:

Location: CoC 337

Alex: MWF 12-2, 3-5

Eric: WF 12-3, Th 1:30-3

1. Setup

Follow the link below to get setup with ROS and our code.

IARRC Setup

2. Why ROS?

Read the conceptual overview of ROS. It separates ROS into three levels:

• ROS Filesystem Level
• ROS Computation Level
• ROS Community Level

From a software engineers viewpoint, ROS is two things. First, it is an interprocess communication architecture. Second, it is a large, community-driven, open-source amalgamation of frameworks, libraries, and tools.

What does this mean for us? Less work; faster results. But, this is only true if you learn to take advantage of ROS's capabilities.

3. ROS Tools

This is not a complete list!

ROS Tools and Utilities

4. Qt Creator

Because catkin is CMake based, QtCreator will give you nice autocomplete

sudo apt-get install qtcreator
qtcreator

Open projects by point QtCreator at the CMakeLists.txt in the iarrc packages. For instance, point it at iarrc/iarrc_tutorials/CMakeLists.txt.

5. IARRC Roadmap

• Electronics
  • RC car placement
    • Removable sensors
  • Power and switch to traffic light
  • RC power board
  • Servo control of rear wheels
  • Servo control of turning
  • Encoder feedback
  • IMU ?
• PANDA Board
  • Install ROS & packages (possibly build onboard)
  • Test HOKUYO
  • Test USB camera
• Motor I/O
  • Programmatic interface
• Camera
  • Rolling Shutter
  • Overexposure
  • Road tracking
  • Cone tracking
  • Unmarked road tracking
  • Stoplight tracking
• Hokuyo
  • Fix connectors
  • Outdoor test (low priority)
  • Cone detection
• Joystick
  • ROS joystick interface
  • Joystick control of RC