SubTAVS

This repository is dedicated to the development of a Subterranean Autonomous Vehicle System.

This is dependent on several different ROS Packages which will need to be installed.

For Mapping:

Install OpenSlam's GMapping by following the instructions at http://wiki.ros.org/gmapping, or using the following command.

sudo apt-get install ros-melodic-gmapping

For Navigation:

Install the ROS Navigation Stack by following the instructions at http://wiki.ros.org/navigation, or using the following command.

sudo apt-get install ros-melodic-navigation

For Zed Camera:

Install the Zed SDK by following the instructions at https://github.com/stereolabs/zed-ros-wrapper.

For Husky tutorial:

Follow the tutorials at http://wiki.ros.org/husky_navigation/Tutorials to test navigation and mapping virtually.

List of Key Sensors used by 2020 Team:

1. Jetson Nano

2. Zed mini Stereo Camera

3a. Velodyne Puck LiDAR (for testing)

3b. Ouster OS-1 32 LiDAR (for final product)

Follow the instructions for your given sensor products to ensure proper installation.

This list doesn't include supplementary sensors such as back up cameras or motors/ motor controllers.

The Sensors and Software folder contains various word documents which contains more details on where to find information on the sensors that were used and how to use them