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README.md

About

The catvehicle ROS package houses files that utilize the Gazebo simulator, and additional interfaces to the physical CAT Vehicle Testbed.

Dependencies

  • ROS
  • obstaclestopper

Citation

If you find this work useful please give credits to the authors by citing:

Rahul Bhadani, Jonathan Sprinkle, Matthew Bunting. "The CAT Vehicle Testbed: A Simulator with Hardware in the Loop for Autonomous Vehicle Applications". Proceedings 2nd International Workshop on Safe Control of Autonomous Vehicles (SCAV 2018), Porto, Portugal, 10th April 2018, Electronic Proceedings in Theoretical Computer Science 269, pp. 32–47. Download: http://dx.doi.org/10.4204/EPTCS.269.4.

bibtex: @article{bhadani2018cat, title={The CAT Vehicle Testbed: A Simulator with Hardware in the Loop for Autonomous Vehicle Applications}, author={Bhadani, Rahul Kumar and Sprinkle, Jonathan and Bunting, Matthew}, journal={Proceedings 2nd International Workshop on Safe Control of Autonomous Vehicles (SCAV 2018), Porto, Portugal, 10th April 2018, Electronic Proceedings in Theoretical Computer Science 269, pp. 32–47}, year={2018} }

catkin workspace and build

In order to use the catvehicle ROS package, you should work within a catkin workspace. If you do not already have one:

cd ~
mkdir -p catvehicle_ws/src
cd catvehicle_ws/src
catkin_init_workspace
cd ..
catkin_make

At this point, you can extract this package into your src directory

cd catvehicle_ws/src
tar xzf catvehicle-x.y.z.tgz
cd ..
catkin_make

Simple tutorial and examples

Follow the tutorials on the CAT Vehicle Testbed group on the CPS Virtual Organization to see how to use the testbed.

Acknowledgements

License

Copyright (c) 2013-2017 Arizona Board of Regents All rights reserved

Permission is hereby granted, without written agreement and without license or royalty fees, to use, copy, modify, and distribute this software and its documentation for any purpose, provided that the above copyright notice and the following two paragraphs appear in all copies of this software.

IN NO EVENT SHALL THE ARIZONA BOARD OF REGENTS BE LIABLE TO ANY PARTY FOR DIRECT, INDIRECT, SPECIAL, INCIDENTAL, OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN IF THE ARIZONA BOARD OF REGENTS HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

THE ARIZONA BOARD OF REGENTS SPECIFICALLY DISCLAIMS ANY WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE. THE SOFTWARE PROVIDED HEREUNDER IS ON AN "AS IS" BASIS, AND THE ARIZONA BOARD OF REGENTS HAS NO OBLIGATION TO PROVIDE MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS, OR MODIFICATIONS.

Authors and contributors

Support

This work was supported by the National Science Foundation and AFOSR under awards 1521617, 1446435, 1262960 and 1253334. Any opinions, findings, and conclusions or recommendations expressed in this material are those of the author(s) and do not necessarily reflect the views of the National Science Foundation.