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Kraken 3.0 - IIT Kharagpur

This is the repository for the code on the vehicle Kraken 3.0.

Written on top of ROS.

The build system is rosbuild.

You would need a ROSbuild workspace to work with this repository.

System Requirements

  • Tested on Ubuntu 14.04 LTS
  • A full installation of ROS Indigo
  • rosbuild workspace
  • Packages as listed in the packages section below.

Packages

  • To run yaw control you need to run the following commands

    $ apt-get install python-numpy python-scipy python-matplotlib ipython 
$ apt-get install python-notebook python-pandas python-sympy python-nose
$ pip install scikit-fuzzy

    If the setyaw package does not run even after successful installation of the above packages, open an issue here.

  • The Artistic Style package for running the formatAll.sh hook.

    TODO

  • rsync

    TODO

Launching the simulator : Start visualisation

roscd
cd kraken_3.0
roslaunch Scripts/launch/simulator/imuDvl.launch

Launching the simulator : Start Yaw control

roscd
cd kraken_3.0
roslaunch Scripts/launch/simulator/yawControl.launch