Final code of project ARC, used to climb the Swiss Klausenpass autonomously with the mainly vision-based Teach and Repeat method, including a state estimation, control and obstacle detection software as well as an VCU interface.
Tested on Ubuntu 14.04 and utilising the ROS-Framework. For state estimation the ORB SLAM 2(Raul Mur-Artal) and ROVIO (Michael Bloesch) software is used.
Use following commands on the terminal before building the package:
wstool init
wstool merge arc_final/dependencies.rosinstall
wstool update
# For velodyne:
sudo apt-get install libpcap-dev
# For arc_viewer:
sudo apt-get install qt5-default
# For ps3-driver:
sudo apt-get install libusb-dev
# Finally:
catkin build -DCMAKE_BUILD_TYPE=Release
roslaunch arc_launch arc.launch Name:=(Desired path to created files) Mode:=(false [Teach] or true [Repeat])