SRA Autosim Challenge (SAC) 2020

Theme:

The world continues to move deliberately towards a transportation system driven by autonomous vehicles having benefits like lesser travel time, cheaper transportation costs, reduced CO2 emissions, and many more. But with great power comes great responsibility. Designing a safer mechanism while maintaining an efficient program has always been a top priority. A line following vehicle is in a way an entry level autonomous vehicle that can navigate any course while following on a contrasting background. As a line follower bot always needs a path to run, its applications are limited. This is where various sensors like lidar, ultrasonic, camera come into picture.

Statement

Steps To Follow:

git clone https://github.com/SRA-VJTI/SRA_Autosim_Challenge_v1.0.git

• Add marker10 and sampleQR to models in .gazebo

• Make the following changes in world and launch files in arena_with_qr package

  1. Change path in line 105 and 127 in sample_arena.world

  <uri>/home/neha_kurian/catkin_ws/src/sample_arena_urdf/meshes/arena_samplenew.dae</uri>
  

  2. Change path in line 293 and 315 in final_arena.world

  <uri>/home/neha_kurian/catkin_ws/src/final_arena_urdf/meshes/final_arena.dae</uri>
  

  3. Change path in line 7 of sample_arena.launch

  <arg name="world" default="/home/neha_kurian/catkin_ws/src/arena_with_qr/world/sample_arena.world" />
  

  4. Change path in line 7 of final_arena.launch

  <arg name="world" default="/home/neha_kurian/catkin_ws/src/arena_with_qr/world/final_arena.world" />
  

• Open terminal from your workspace and do

  catkin_make
  source devel/setup.bash
  

• To launch sample arena:

  roslaunch arena_with_qr sample_arena.launch
  

• To launch final arena:

  roslaunch arena_with_qr final_arena.launch