Overview
Overview
Section titled “Overview”
Welcome to the autonomy starter project tutorial! In this tutorial, you will write code for all three subsystems encompassed by autonomy: perception, navigation, and localization. You will then put them all together in order to complete a task with a simulated rover. The goal is to familiarize yourself with what type of problems we tackle and how to do that with our codebase.
When you complete the project you will have a rover that uses its localization system to navigate to a set waypoint and then uses its perception system to drive it to a tag, here is an example of a working solution (click the image below, it’s a link):
Getting Started
Section titled “Getting Started”Use the mrover command to navigate to ~/ros2_ws/src/mrover:
Follow the setup instructions here to setup up the codebase. Note the following folder ./starter_project, this is where the majority of the work will be done.