PEV Base software packages

provide the basic sensors reading and control for PEV.

Setup

1. Install requeire ros packages

   sudo apt-get install ros-kinetic-tf ros-kinetic-serial ros-kinetic-rosserial-python ros-kinetic-diagnostic-aggregator ros-kinetic-urg-node ros-kinetic-xsens-driver ros-kinetic-joy ros-kinetic-teleop-twist-joy ros-kinetic-control-toolbox ros-kinetic-uvc-camera ros-kinetic-hector-trajectory-server ros-kinetic-nmea-navsat-driver ros-kinetic-velodyne-pointcloud ros-kinetic-robot-state-publisher ros-kinetic-ackermann-msgs -y
   

2. Clone and build

   cd ~/pev_ws/src
   git clone https://github.mit.edu/MediaLabPEV/pev.git
   cd pev
   git submodule init 
   git submodule update
   cd ../..
   catkin_make
   

3. Setup for Hardware

   cd ~/pev_ws/src/pev/pev_hardware_rule/MIT/
   sudo sh ~/pev_ws/src/pev/pev_hardware_rule/MIT/setRule.sh
   

List of ROS software package on PEV

ROS Package	Description	Maintainer
pev_odom	Fusion sensors to vehicle odometry	Justin Zhang
pev_sensors	Sensors driver on PEV	Justin Zhang
pev_path	Save and read vehicle previous path	Justin Zhang
pev_octomap	Octomap 3D SLAM	Luke Jiang
pev_network	Network communicate to server or user	Justin Zhang
pev_map_server	Save and read map into MySQL database	Justin Zhang
pev_edge_follow	Road edge to path	Justin Zhang
pev_description	Vehicle hardeare position and 3D model	Justin Zhang & Luke Jiang
pev_demo	Integrate all function to demo self-driving	Justin Zhang
move_pev	PEV motion planing & basic control	Luke Jiang