{"id":22620377,"url":"https://github.com/georgiosmatzarapis/polaris-gem-e2-manager","last_synced_at":"2026-04-18T00:01:54.973Z","repository":{"id":263167510,"uuid":"857343784","full_name":"georgiosmatzarapis/polaris-gem-e2-manager","owner":"georgiosmatzarapis","description":"This is a high level manager of the Polaris GEM e2. 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The system behind it, has been built to receive mocked sensor data and control the vehicle's course based on them.\n\n## Environment\n\nAs it is required by the Polaris project, I set up an Ubuntu 20.04 machine with ROS Noetic, following at the same time the GNU and cmake versions that were already in place.\n\nSo,\n\n- C++ standard: C++17\n- Compiler: GNU gcc/g++ packages both in 9.4.0 version\n- Debugger: GNU gdb (GDB) package in 10.2 version\n- cmake: version 3.16.3\n\nNot to lie, I missed some recent C++ features, but it was fine (some of them are commented on the code).\n\n## How to run\n\nAll you have to do is to build the docker image by executing the following line and being at the same level with the `Dockerfile`:\n\n\u003e docker build -t polaris-gem-manager .\n\nThen to run it, make the `run_container.sh` executable,\n\n\u003e chmod +x run_container.sh\n\nand execute it,\n\n\u003e ./run_container.sh\n\nThis way you will land into the workspace having everything built! The only thing you have to do, is to run the nodes.\n\nYou will have the `terminator` terminal installed, which you can launch by executing `terminator -u`.\n\nIn different terminals/windows run,\n\n1. `roscore`\n2. `roslaunch gem_gazebo gem_gazebo_rviz.launch`\n3. `rosrun gem_pure_pursuit_sim_new_interface pure_pursuit_sim.py` or `rosrun gem_stanley_sim_new_interface stanley_sim.py`\n4. `roslaunch gem_manager polaris_manager_simulation.launch` (don't forget to modify the node parameter according to the controller)\n\nFrom this point, you have the following options to test with,\n\n- `rosrun gem_mock_sensors battery_node`\n- `rosrun gem_mock_sensors temperature_node`\n- `rosrun gem_mock_sensors gps_node`\n- `rosrun gem_mock_sensors signal_node`\n- `rosrun gem_mock_sensors emergency_stop_node`\n\nAnd to inspect the underneath message exchange, `rostopic echo` followed by,\n\n- `/gem_manager/battery_level`\n- `/gem_manager/temperature`\n- `/gem_manager/gps_accuracy`\n- `/gem_manager/signal_strength`\n- `/gem_manager/emergency_button`\n- `/gem_manager/robot_state`\n- `/gem_manager/waypoints`\n\n---\n\n## Author\n\n@[georgiosmatzarapis](https://georgiosmatzarapis.com)\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fgeorgiosmatzarapis%2Fpolaris-gem-e2-manager","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fgeorgiosmatzarapis%2Fpolaris-gem-e2-manager","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fgeorgiosmatzarapis%2Fpolaris-gem-e2-manager/lists"}