https://github.com/georgiosmatzarapis/polaris-gem-e2-manager

This is a high level manager of the Polaris GEM e2. The system behind it, has been built to receive mocked sensor data and control the vehicle's course based on them.
https://github.com/georgiosmatzarapis/polaris-gem-e2-manager

autonomous-vehicles cmake finite-state-machine modern-cpp path-tracking robotics ros

Last synced: 4 days ago
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This is a high level manager of the Polaris GEM e2. The system behind it, has been built to receive mocked sensor data and control the vehicle's course based on them.

• Host: GitHub
• URL: https://github.com/georgiosmatzarapis/polaris-gem-e2-manager
• Owner: georgiosmatzarapis
• License: mit
• Created: 2024-09-14T12:04:49.000Z (5 months ago)
• Default Branch: main
• Last Pushed: 2024-11-23T13:05:37.000Z (3 months ago)
• Last Synced: 2024-12-08T22:13:23.212Z (2 months ago)
• Topics: autonomous-vehicles, cmake, finite-state-machine, modern-cpp, path-tracking, robotics, ros
• Language: C++
• Homepage:
• Size: 112 KB
• Stars: 0
• Watchers: 1
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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README

        
# Polaris GEM e2 Manager

This is a high level manager of the [Polaris GEM e2](https://gitlab.engr.illinois.edu/gemillins/POLARIS_GEM_e2.git). The system behind it, has been built to receive mocked sensor data and control the vehicle's course based on them.

## Environment

As 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.

So,

- C++ standard: C++17

- Compiler: GNU gcc/g++ packages both in 9.4.0 version

- Debugger: GNU gdb (GDB) package in 10.2 version

- cmake: version 3.16.3

Not to lie, I missed some recent C++ features, but it was fine (some of them are commented on the code).

## How to run

All you have to do is to build the docker image by executing the following line and being at the same level with the `Dockerfile`:

> docker build -t polaris-gem-manager .

Then to run it, make the `run_container.sh` executable,

> chmod +x run_container.sh

and execute it,

> ./run_container.sh

This way you will land into the workspace having everything built! The only thing you have to do, is to run the nodes.

You will have the `terminator` terminal installed, which you can launch by executing `terminator -u`.

In different terminals/windows run,

1. `roscore`

2. `roslaunch gem_gazebo gem_gazebo_rviz.launch`

3. `rosrun gem_pure_pursuit_sim_new_interface pure_pursuit_sim.py` or `rosrun gem_stanley_sim_new_interface stanley_sim.py`

4. `roslaunch gem_manager polaris_manager_simulation.launch` (don't forget to modify the node parameter according to the controller)

From this point, you have the following options to test with,

- `rosrun gem_mock_sensors battery_node`

- `rosrun gem_mock_sensors temperature_node`

- `rosrun gem_mock_sensors gps_node`

- `rosrun gem_mock_sensors signal_node`

- `rosrun gem_mock_sensors emergency_stop_node`

And to inspect the underneath message exchange, `rostopic echo` followed by,

- `/gem_manager/battery_level`

- `/gem_manager/temperature`

- `/gem_manager/gps_accuracy`

- `/gem_manager/signal_strength`

- `/gem_manager/emergency_button`

- `/gem_manager/robot_state`

- `/gem_manager/waypoints`

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## Author

@[georgiosmatzarapis](https://georgiosmatzarapis.com)