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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