AMP's Autonomous Software Stack

Autonomous Motorsports Purdue's software stack for the go-kart which will race in the Autonomous Karting Series. It is built on top of ROS2 Humble and Ubuntu 22.04.

NOTE: This repository is a ROS workspace.

Development Setup

Make sure ROS2 Humble is installed in your system and you have the proper environment setup.

If you are deploying to the Jetson, please read Jetson Setup Guide for how to wire and run code on the Jetson

Downloading and Setting up the Repo

Set up your Git SSH keys:

Step 1 Step 2 Check

Clone the repo:

git clone [email protected]:Autonomous-Motorsports-Purdue/AMP_ASSv4.git
cd AMP_ASSv4

Installing Dependencies and Building

rosdep update
rosdep install --from-paths src -iry
colcon build --symlink-install

Now build the repo

colcon build

And let ROS2 know where the find the built packages

source install/local_setup.bash

If this works out, it should report no failed packages.

At this point, launch the simulation for a test! ros2 launch amp_simulator robot_launch.py. If you do not already have the right version of webots (2023b) installed, the webots-ros2 package will prompt you to install Webots.

Development Tips

Note: --symlink-install is causing issues with Humble package search. Use colcon build after all file modifications for now.

Run colcon build --symlink-install after file changes to 'recompile' the project. You do not need to run this after changing python files since --symlink-install keep track of all new changes.

Common Troubleshooting

If you see this: /usr/lib/python3/dist-packages/setuptools/command/install.py:34: SetuptoolsDeprecationWarning: setup.py install is deprecated. Use build and pip and other standards-based tools.

It is not an error and you can safely ignore it. However, if the warning bothers you, read more