{"id":21867831,"url":"https://github.com/karanchawla/callistorover","last_synced_at":"2026-03-13T02:33:30.962Z","repository":{"id":95016030,"uuid":"80434641","full_name":"karanchawla/CallistoRover","owner":"karanchawla","description":"Repository for the software for control and autonomous navigation of UGV.","archived":false,"fork":false,"pushed_at":"2017-06-22T17:19:58.000Z","size":954,"stargazers_count":5,"open_issues_count":0,"forks_count":4,"subscribers_count":1,"default_branch":"master","last_synced_at":"2025-03-28T10:47:32.292Z","etag":null,"topics":["autonomous","navigation","pathfinding","ros","rover","rrt"],"latest_commit_sha":null,"homepage":"https://karanchawla.com/2017/03/13/sensor-simulation-in-gazebo/","language":"C++","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"mit","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/karanchawla.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":"License.txt","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null}},"created_at":"2017-01-30T15:36:54.000Z","updated_at":"2024-09-29T01:20:48.000Z","dependencies_parsed_at":"2023-06-11T15:30:58.591Z","dependency_job_id":null,"html_url":"https://github.com/karanchawla/CallistoRover","commit_stats":null,"previous_names":[],"tags_count":0,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/karanchawla%2FCallistoRover","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/karanchawla%2FCallistoRover/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/karanchawla%2FCallistoRover/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/karanchawla%2FCallistoRover/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/karanchawla","download_url":"https://codeload.github.com/karanchawla/CallistoRover/tar.gz/refs/heads/master","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":248970691,"owners_count":21191472,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["autonomous","navigation","pathfinding","ros","rover","rrt"],"created_at":"2024-11-28T05:10:46.305Z","updated_at":"2026-03-13T02:33:25.912Z","avatar_url":"https://github.com/karanchawla.png","language":"C++","funding_links":[],"categories":[],"sub_categories":[],"readme":"# CallistoRover\nRepository for the software for control and autonomous navigation of UGV.\nDirectory Structure: \n- CallistoRover\n  - src \n    - callisto_control\n      - config \n        callisto_control.yaml\n      - launch \n        - callisto_control.launch\n      - CMakeLists.txt\n      - package.xml\n    - callisto_description \n      - launch \n        - callisto_rviz.launch\n      - urdf \n        - macros.xacro \n        - materials.xacro \n        - callisto.gazebo\n        - callisto. xacro \n       - CMakeLists.txt\n       - package.xml\n     - callisto_gazebo\n       - launch\n         - callisto_myworld.launch\n       - worlds\n         - callisto.world\n       - CMakeLists.txt\n       - package.xml\n     - diffdrive_controller\n       - src\n         - diffdrive_controller.py\n       - CMakeLists.txt\n       - package.xml\n     - nav_behaviours\n       - launch \n         - nav_behaviours.launch\n       - src\n         - nav_timed.py\n       - CMakeLists.txt\n       - package.xml\n       \nRover with Lidar and Generic Camera in a Corn Field(Gazebo):\n![](images/farm1.jpg)\n\n\n\nVideos:\n\n\u003ca href=\"https://www.youtube.com/watch?v=vewtGyf9uSo\u0026t=2s\" target=\"_blank\"\u003e\u003cimg src=\"https://i.ytimg.com/vi/vewtGyf9uSo/hqdefault.jpg?custom=true\u0026w=336\u0026h=188\u0026stc=true\u0026jpg444=true\u0026jpgq=90\u0026sp=68\u0026sat=0.3\u0026sigh=OgGL06-jMYgpFNx8oOrUetsa3hc\" alt=\"Teleoperation and Mapping\" width=\"240\" height=\"180\" border=\"10\" /\u003e\u003c/a\u003e\n\n\n\u003ca href=\"https://www.youtube.com/watch?v=-S2_TLgltj8\" target=\"_blank\"\u003e\u003cimg src=\"https://i.ytimg.com/vi/-S2_TLgltj8/hqdefault.jpg?custom=true\u0026w=336\u0026h=188\u0026stc=true\u0026jpg444=true\u0026jpgq=90\u0026sp=68\u0026sat=0.3\u0026sigh=jG1sKAO51Nnar-ijQ_CPH6xkco0\" alt=\"Autonomous Navigation with AMCL\" width=\"240\" height=\"180\" border=\"10\" /\u003e\u003c/a\u003e\n \n\nTo Do:\n- [x] Get the connections for Sabertooth working\n- [x] Simulate the robot in Gazebo\n- [x] Add differential drive controller and, camera sensor.\n- [x] Interface mbed with ROS using Serial Comms \n- [x] Open Loop Control Node for mbed \n- [x] Implement HIL open loop control node\n- [x] Use encoder data for PID controller - feedback!\n- [x] Trajectory Tracking \n- [ ] Add Skid steering Control \n \nNotes: \n - 1. If Hokuyo laser shows weird range and behavior, the problem is probably because of the graphic drivers and add this line before launching gazebo simulation - you may add it to your ~/.bashrc file. \n \n ```\n export LIBGL_ALWAYS_SOFTWARE=1\n ```\n \n- 2. Converting from ogv to mp4\n\n```\nffmpeg -i out.ogv        -c:v libx264 -preset veryslow -crf 22        -c:a libmp3lame -qscale:a 2 -ac 2 -ar 44100 \\ navigation.mp4\n\n```\n- 3. Blog Post 1\n\n```\nhttps://karanchawla.com/2017/02/24/modeling-a-rover-in-gazebo/\n```\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fkaranchawla%2Fcallistorover","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fkaranchawla%2Fcallistorover","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fkaranchawla%2Fcallistorover/lists"}