SCV(Service Co-operation Vehicle)

SCV(Service Co-operation Vehicle) is a self-driving vehicle aimed at campus driving and services.

Sub Project Lists (meaning submodules)

All sub Projects are in src directory

• SCV System
  • scv controller
• Sensors
  • GPS
  • Velodyne Lidar
  • ZED2 Wrapper
• Msgs
• Hunter Library
  • vehicle_control : vehicle controller for hunter
  • vehicle_sdk : hunter sdk

Installation

Build workspace

When you clone this repository for the first time, You need to build workspace as follow. in the your workspace

install libasio-dev for boost

sudo apt update -y
sudo apt install -y libasio-dev

install msgs for GPS

sudo apt install ros-{ROS DISTRO}-mavros-msgs
sudo apt install ros-{ROS DISTRO}-uuid-msgs
sudo apt install ros-{ROS DISTRO}-nmea-msgs

• install ZED SDK suitable for environment

https://www.stereolabs.com/developers/release/

• installing ROS dependencies for Velodyne LiDARs

sudo apt-get install ros-{ROS DISTRO}-velodyne

Check your ROS version and change symbolic link of CmakeLists.txt in src directory of Workspace

• Check symbolic link of CMakeLists.txt

$ls -al ./src

• Verify your link status of CMakeLists.txt

total 28
drwxrwxr-x  7 scv scv 4096  8월 31 16:08 .
drwxrwxr-x  6 scv scv 4096  8월 31 16:13 ..
drwxrwxr-x 14 scv scv 4096  8월 31 16:08 cmake-build-debug
lrwxrwxrwx  1 root   root     49  8월 31 16:08 CMakeLists.txt -> /opt/ros/noetic/share/catkin/cmake/toplevel.cmake
drwxrwxr-x  2 scv scv 4096  8월 31 16:09 .idea
drwxrwxr-x  4 scv scv 4096  8월 31 16:05 scv_control
drwxrwxr-x  5 scv scv 4096  8월 30 10:45 vehicle_control
drwxrwxr-x 11 scv scv 4096  8월 30 10:45 vehicle_sdk

• Change symbolic link

#if ROS version is noetic,
$sudo ln -Tfs /opt/ros/noetic/share/catkin/cmake/toplevel.cmake ./src/CMakeLists.txt

#Melodic,
$sudo ln -Tfs /opt/ros/melodic/share/catkin/cmake/toplevel.cmake ./src/CMakeLists.txt  

Build Workspace

#make workspace
$catkin_make