AMRL Maps

Map files used by UT-AMRL projects.

Dependencies

ROS

Usage

1. Clone this repository.
2. For ROS1: Add the path to your ~/.bashrc file for the ROS_PACKAGE_PATH environment variable:

   echo "export ROS_PACKAGE_PATH=$(pwd):\$ROS_PACKAGE_PATH" >> ~/.bashrc
   source ~/.bashrc

3. For ROS2: Add the path to your ~/.bashrc file for the AMENT_PREFIX_PATH environment variable:

   echo "export AMENT_PREFIX_PATH=$(pwd)/install:\$AMENT_PREFIX_PATH" >> ~/.bashrc
   source ~/.bashrc

4. Run make. This will automatically build and install (for ROS2) or just work directly (for ROS1). No need to run catkin_*, rosbuild, etc.

Updating and Creating Maps

Maps are created with the vector_display package.

Creating Racing Lines

Racing lines are represented as text files noted with the .racingline extension. Each line in the text file represents a point on the racing line and some information about the line segment immediately following that point. The format is as follows:

<node_x> <node_y> <segment_max_speed> <segment_angular_velocity_factor> <segment_acceleration_factor> <segment_deceleration_factor>