BFMC 2024

Repo for Bosch Future Mobility Challenge 2024, Dei-Unipd Team

How to use this repo

Installations

Initial steps/requirements:

• Operating system: Ubuntu 20.04
• Python >= 3.8 (install in virtual environment recommended)
• ROS Noetic, with the following commands:

sudo apt update
sudo apt install ros-noetic-desktop-full
echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
source ~/.bashrc

Install python packages, open a terminal in this directory (with the virtual environment activated) and run:

pip install -r REQUIREMENTS.txt

To compile the simulator, in a terminal:

cd Simulator
bash recompile.sh

At the end of the compilation, you should see the following message:

To automatically source the sim, add the following lines to your ~/.bashrc file
source /your/repo/dir/bfmc_2024/Simulator/devel/setup.bash

with /your/repo/dir/ being the path to the directory where you cloned the repo. If it is not already there, the script will also ask you to add the line to your ~/.bashrc file, if you want to do it type y.

Running the simulator

To run the simulator, open a terminal, source the workspace and run:

roslaunch sim_pkg car_with_map.launch 

This is the simplest launch file, it will start the simulator with the car and the map, without any visualization. You can try car_with_map_vis.launch to see the car and the map and map_with_all_objects.launch to see the map with all the objects (Note1: this will open gazebo, which is disabled by default in the other 2 launch files to reduce the computational burden. Note2:all the objects are in the wrong positions, since they are referred to the old map).

Visualization

To visualize the car and the map, open a terminal, source the workspace and run:

rosrun example visualizer.py

Press R on the image to reset the visualization, and ESC to close it.

Manual control

To manually control the car, you can use the keyboard. To do so, open a terminal, source the workspace and run:

rosrun example control.py

Competition example

To run the competition example, close all terminals, open a new one, source the workspace and run:

python main_brain.py

This will start the simulator in a different terminal, and will run the main brain. You should see the car going around the map, performing various tasks.