This package is team RCMakers's submission for the HRATC 2017.

Dependencies

Utilities

pip
python-rosdep

Python Libraries

python-numpy
scikit-learn (v0.18.x) (not available on APT)

ROS Packages

metal_detector_msgs
roscpp
nav_msgs
rospy
tf
std_msgs
message_filters
move_base_msgs
actionlib
angles
laser_assembler
control_msgs
robot_localization

Installation

First, copy the package folder (rename it to hratc2017_entry_rcmakers if its name is different) to the src folder in the hratc2017_workspace.

Installing Dependencies

In an account with sudo privileges, navigate to the root directory of the workspace and run the following:
$ rosdep install --from-paths src --ignore-src --rosdistro=indigo
You will be prompted for your password to perform the necessary APT operations.
Following this, first uninstall any current instances of python-sklearn you may have on your computer, as they will conflict with the latest version of scikit-learn. To do this and install scikit-learn, use the following commands:
$ sudo apt-get remove python-sklearn
$ sudo pip install -U scikit-learn

Finalization

In the root directory of your workspace, run the following:
$ catkin_make.
$ chmod +x src/hratc2017_entry_rcmakers/scripts/navigator.py
$ chmod +x src/hratc2017_entry_rcmakers/scripts/detector.py

Usage

With the navigation stack, sensors, and simulation (if applicable) running, run the following command:
$ roslaunch hratc2017_entry_rcmakers hratc2017_rcmakers.launch

Contributions

• Ege Çağlar: Navigation and localization
• Tan Gemicioğlu: Mine detection, methods research
• Ali Çataltepe: System design and debugging