Autonomy Toolkit, dubbed autonomy-toolkit, is meant to be a simplified mechansim for quickly setting up and developing a ROS 2 based control stack. The autonomy-toolkit platform is under activate development by the Simulation Based Engineering Laboratory at the University of Wisconsin-Madison.
The autonomy-toolkit platform provides the following resources for expediting development of autonomous algorithms:
- A development workflow for writing and testing ROS 2 code
- A mechansim for easily generating custom container-based images (think Docker) for use with the ROS 2 stack
- A wrapper for container compose mechanisms (i.e. Docker Compose, singularity-compose) to improve user experience
Furthermore, the Autonomy Research Testbed, which utilizes this toolbox, provides the following functionality:
- A parts list and instructions on how to build the physical platform
- A high-fidelity simulation environment built using Chrono to test autonomous algorithms
For more information about the design considerations and purpose for this project, see the background section.
Contact the Simulation Based Engineering Laboratory for any questions or concerns regarding the contents of this repository.
Visit our website at sbel.wisc.edu!
