Documentation first task: Round

Documentation second task: Slalom

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Contribution Tobias Müller: One combined scanner

Contribution Tobias Müller: Set Initional Pose and Planning Position for Slalom Task

Contribution Tobias Müller: Path Planning for Slalom Task

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Contribution Anthony Carnevale: Execute short moves for better localization

Contribution Anthony Carnevale: Move backwards if next goal can't be reached

Contribution Anthony Carnevale: Simulate the wii controller for testing waypoint recording

additional contributions:

Contribution Anthony Carnevale: Set initial_pose

Contribution Anthony Carnevale: Publish some hardcoded goals

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Contribution Fynn Terhar: Speed gain for the straight hallways

Contribution Fynn Terhar: RVIZ visualization support for speed gain

Contribution Fynn Terhar: Training a path to the robot

Contribution Fynn Terhar: Following a previously trained path

Basic setup for the TAS stack

This repository has two branches: master and simulation. 1. Branch "master": for working on the real car 2. Branch "simulation": for working on gazebo simulation

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1. Branch "master":
   • Please follow the instruction on Moodle for better understanding about the package
   • This branch is only used for real car. It will not work on your own machine

================================================================= 2. Branch "simulation": - Provide a gazebo simulation model based on ackermann_vehicle package on ROS - Please follow the instructions in INSTALL.md to install all necessary packages - For launching simulator run: roslaunch tas_simulator startSimulation.launch - To start navigation stack in simulation run roslaunch tas_simulator startNavigation.launch - To change to autonomous mode use rostopic pub /wii_communication std_msgs/Int16MultiArray hit "Tab" a few times and change that 0 to 1 - And publish goals: rosrun simple_navigation_goals simple_navigation_goals_node REMEMBER: This branch only provides you a gazebo simulation model, additional details and control strategies need to be added to fullfil your tasks