Software_IGVC

Please refer to the prerequisite setup before continuing.

Run the Real Robot

1) The configuration command below will:

• start all the driver nodes (roboteq, imu, sicktim, gps)
• start the localization nodes (2x ekf_localization_node, navsat_transform_node)
• start the navigation stack (move_base)

---> roslaunch scipio_2dnav start.launch

2) Once configuration is launch, launch the state machine to send gps goals:

• It will wait 5 seconds after start, before sending the first goal.

---> roslaunch state_machine start.launch

Run the Simulation

1) The simulator launch command below will:

• Completely setup everything you need to simply just send goals to the robot
• Depending on your computer speed, it may take up to 15 seconds to load gazebo

---> roslaunch scipio_simulation gazebo.launch

2) Once you see the IGVC course in Gazebo:

• Start state machine to send goals

---> roslaunch state_machine start.launch