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
1
Autonomous Vehicle Control Documentation, Release 0.0.1-rc1
2
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
3
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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