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TRAIL_README.md

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TRAIL husky

Modifications to the original Clearpath Husky code to support the addition of an AprilTag target on top of the Husky.

Installation

  1. Install ROS Noetic (if not installed)

  2. Create a catkin workspace (if one does not already exist)

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
catkin_init_workspace
  1. Install dependencies
sudo apt update
sudo apt install -y \
    ros-noetic-interactive-marker-twist-server \
    ros-noetic-twist-mux \
    ros-noetic-joy \
    ros-noetic-teleop-twist-joy

  1. Clone this repository into the src folder

  2. Check out the trail-devel branch

  3. Build the package and source the catkin workspace

catkin build husky_base
catkin build husky_desktop
catkin build husky_simulator
source ~/catkin_ws/devel/setup.bash
  1. To verify if the installation was successful, test to see if the Husky moves
# In one terminal tab
roslaunch husky_gazebo husky_empty_world.launch
# In another terminal tab
rostopic pub /husky_velocity_controller/cmd_vel geometry_msgs/Twist "linear:
        x: 0.5
        y: 0.0
        z: 0.0
angular:
        x: 0.0
        y: 0.0
        z: 0.0" -r 10
  1. The Husky will be spawned when running the RotorS simulator located in our fork of the RotorS repository