Installation Instructions (Ubuntu)

To install this package with ROS Kinetic:

1. Install additional system dependencies:

sudo apt-get install python-wstool python-catkin-tools ros-$ROS_DISTRO-cmake-modules libyaml-cpp-dev
sudo apt-get install ros-$ROS_DISTRO-hector-slam ros-$ROS_DISTRO-map-server ros-$ROS_DISTRO-amcl ros-$ROS_DISTRO-rplidar-ros  ros-$ROS_DISTRO-laser-scan-matcher ros-$ROS_DISTRO-move-base ros-$ROS_DISTRO-costmap-2d ros-$ROS_DISTRO-dwa-local-planner ros-$ROS_DISTRO-global-planner ros-$ROS_DISTRO-teb-local-planner ros-$ROS_DISTRO-ackermann-msgs ros-$ROS_DISTRO-usb-cam ros-$ROS_DISTRO-mavros -y

2. Install pigiod lib for this instruction

Importantly! This library is designed to work with GPIO (there are no jitter from ESC), but it requires running a daemon

When RPI is loaded, to start the daemon do:

sudo pigpiod

Or add this daemon to autostart: added next line to /etc/rc.local

pigpiod &   #this loads the pigpio daemon
exit 0

3. Set up a catkin workspace (if not already done):

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
catkin_init_workspace
cd ~/catkin_ws/
catkin_make
echo source devel/setup.bash >> ~/.bashrc  

5. Clone repositories (if not already done):

cd ~/catkin_ws/src
git clone https://github.com/GigaFlopsis/rc_car_ros.git
cd ~/catkin_ws/
catkin_make