Swayamchalit Gaadi

About Swayamchalit Gaadi (Project SwaG)

Project Swayamchalit Gaadi,the first self-driving car team from Odisha currently working on Level-4 Autonomous vehicles and small-scale self-driving car prototypes. It was started in 2019 with the vision of our founders Anshuman Parhi, Anand Golla and our respected seniors under the mentorship of Prof. Isham Panigrahi.
We aim to build a completely homegrown autonomous vehicle and represent it on international grounds. We intend to represent our college and country at IGVC and Formulae Student Germany.

This document will give you a brief description of the repo's layout and an overview of the repo. For more detailed information about our team, check out our social media pages:

Our Hard Working and Amazing Team

Cofounders

Team Manager

Team Lead

Members of ROS Team

Members of Software Stack

Members of Mechanical Team

Folder Structure

The repo is comprised of multiple ROS packages and one sandbox folder for miscellaneous resources.

• swag_description URDF files for our robot and meshes for gazebo, description files for obstacles like barrels and ramps

• swag_gazebo Contains simulations plugins which helps to initiate simulation

• swag_msgs All customized ROS messages which has been used throughout the package

• swag_navigation Collection of nodes for navigation, path-planning(includes setting waypoints) and localization

• swag_perception Collection of nodes which perform pointcloud filters, image segmentation and sensor fusion the whole of which forms our perception stack

• igvc_platform Nodes that are platform specific and used to communicate with the hardware, ie. IMU, joystick and motor controller

• swag_documentation A brief document about our whole package and some basic knowledge required

• Rest all stuff are standard ros packages used for small purposes which we used during our testing and raw operations phase

Building Code

For an installation guide for ROS, check out the official ROS Installation page ROS Official installation page.

1. Clone the repository (with the git submodules) into the src directory of a catkin workspace:

   git clone https://github.com/Project-SwaG/swag-igvc-simulator --recursive

2. Install dependencies:

   cd swag-igvc-simulator
   # The below command will install them all.
   rosdep install --from-paths src --ignore-src
   
   # Very rarely you will need to run this bash file
   ./install_dependencies.sh

3. Use catkin_make in the workspace to build all the packages:

   catkin_make

4. Make sure the devel/setup.bash is sourced before using any of the nodes in this package:

   source devel/setup.bash

Common Errors

• Could not find a package configuration file provided by "parameter_assertions" with any of the following names:
  • parameter_assertions comes from a git submodule. Initialize the submodules by doing git submodule update --init --recursive
• Could not find a package configuration file provided by "XXXX" with any of the following names:"
  • Make sure you have ran rosdep install --from-paths src --ignore-src in the catkin_ws folder already
  • If you still get this error after installing all dependencies, then that means that we forgot to include that package in our dependencies list. File an issue with the error message.

Running the simulation in Gazebo

You can get started with the simulation of the Swayamchali Gaadi using our simulator. Just need to follow the below steps:

Load the robot into a Gazebo world: The following command will do that for you:

roslaunch swag_gazebo simulation.launch

Navigation the Vehicle: To launch the navigation stack for simulation:

roslaunch swag_navigation navigation_simulation.launch

Alternatively, you can control the robot manually using a keyboard:
For this feature we have used the standard ROS teleop package

rosrun teleop_twist_keyboard teleop_twist_keyboard.py