Autonomous Vehicle Control Documentation

Autonomous Vehicle Control Documentation

Release 0.0.1-rc1

Huckleberry Febbo

Jan 09, 2019

Contents

1 Software

3

1.1 ROS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3

1.2 Gazebo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

1.3 ROS and Gazebo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

1.4 Project Chrono . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

1.5 Polysync . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

1.6 julia . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

1.7 git . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40

1.8 Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

1.9 LaTeX . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54

1.10 C . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58

1.11 Operating Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58

1.12 misc . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

2 Hardware

67

2.1 LiDAR Devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67

3 Huck's notes

71

3.1 Navigation and Guidance of Aerospace Vehicles (AERO 584) . . . . . . . . . . . . . . . . . . . . . 71

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Autonomous Vehicle Control Documentation, Release 0.0.1-rc1

My PhD project involves using model predictive control to avoid moving obstacles. Contents:

Contents

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Autonomous Vehicle Control Documentation, Release 0.0.1-rc1

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Contents

1 CHAPTER

Software

1.1 ROS

1.1.1 Installing ROS

From Pre-Built Debians For ROS kinetic: sudo apt-get install ros-kinetic-desktop-full From source Additional steps/notes to the link above.

1. Remove any sourced files from the bash.bashrc files. 2. 2.1: after making the catkin_ws

Run: catkin init Note: make sure that there are no other external workspaces that you are building on 3. Resolve Dependencies Before you build the catkin_ws make sure that you have the required dependencies! rosdep install --from-paths src --ignore-src --rosdistro kinetic -y

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Autonomous Vehicle Control Documentation, Release 0.0.1-rc1

Potential Issues:

Using the second option (Desktop Install) for kinetic, the following issues may occur:

Note: potential error: /home/febbo/ros_catkin_ws/src/opencv3/opencv_contrib/rgbd/src/odometry.cpp:41:45: fatal error: unsupported/Eigen/MatrixFunctions: No such file or directory compilation terminated. The fix is to changed line 41 in odometry.cpp to (or where eigen3 is): #include

Note: potential error: c++: error: /home/febbo/ros_catkin_ws/build_isolated/qt_gui_cpp/src/qt_gui_ cpp_shiboken/libqt_gui_cpp_shiboken/qt_gui_cpp_recursivepluginprovider_ wrapper.cpp: No such file or directory c++: fatal error: no input files compilation terminated. ................
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