Overview

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

Auton Starter Project Setup

Visit the starter project repo

Prerequisite

A working mrover install, per the Install ROS wiki page.

Then build the ROS 2 workspace by running

mrover
./build.sh

Setup

curl -fsSL https://raw.githubusercontent.com/umrover/auton-starter-project/main/scripts/setup.sh | bash

After it finishes:

source ~/.zshrc

Use

In every new terminal run

auton_starter

After making changes to your code, compile through

build_starter

Then to run the simulator with your code run

ros2 launch mrover_autonomy_starter starter_project.launch.py