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IGVC Software

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Welcome to the RoboJackets IGVC software repo!

This wiki provides documentation for packages implemented in the igvc-software repository as well as instructions for building the code and running the robot in simulation. Check out this link to get a better understanding of the Intelligent Ground Vehicle Competition's rules and requirements.

Package Structure

The igvc-software repository is comprised of multiple packages, each responsible of handling different tasks. The current package structure is broken down as follows:

• igvc_description
  • Contains the URDF and models that are spawned into Gazebo.
• igvc_gazebo
  • Main simulation package in the igvc-software repository. Handles the robot's interaction with the ROS world, including sensor feedback and motor commands.
• igvc_msgs
  • Defines custom message used throughout IGVC-software packages.
• igvc_navigation
  • igvc_navigation provides the robot with the ability to map the environment, localize itself, and plan paths that will guide it to a GPS waypoint without hitting obstacles (i.e. barriers, lines) along the way.
• igvc_perception
  • Provides the robot with vision of its environment. This includes:
    • lidar data in the form of a pointcloud.
    • A semantic segmentation pointcloud used to detect potholes and lines throughout the course.
• igvc_platform
• igvc_rviz_plugins
• igvc_utils