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Simple Autonomous Wheeled Robot (SAWR)

Master Package

This package serves a few purposes:

  1. To act as a metapackage in that it has dependencies on all other packages needed for the SAWR project. In theory, you only have to install this package to get all dependencies. In practice, some other manual steps are still required to set up your robot, for example to configure your servos, and to install software (such as drivers) not available in the ROS package manager or apt repos.

    See INSTALL.md for details.

  2. Includes launch files for startup. These are organized in "phases" to resolve ordering dependencies. Launch init_1.launch, then init_2.launch, etc. It is useful to launch each of these in a separate window. Wait for each to stabilize before starting the next. You can a lso use the start.sh script.

    In fact there are many ways to launch the software system; see LAUNCH.md for details.

  3. Includes various helper scripts. For example,

     sudo ./scripts/setperf.sh

    will turn on the performance governor for all cores, which is useful on an Intel Joule when using active cooling to push the performance up.

    There are various other scripts in this director useful for testing. For example, after launching your basic software stack, try

    ./scripts/viz.sh &
./scripts/teleop.sh