IGVC (Intelligent Ground Vehicle Competition) ROS Project

This repository contains the ROS (Robot Operating System) workspace for the Intelligent Ground Vehicle Competition project. It utilizes NVIDIA's Isaac ROS Common packages for robotics development.

Prerequisites

• Ubuntu 22.04
• ROS 2 (Humble)
• NVIDIA GPU (recommended)
• Git
• Docker (optional, for containerized development)

Installation

1. Clone the Repository

Clone this repository with its submodules using:

git clone --recursive https://github.com/PixelPepper/IGVC.git
cd IGVC

If you already cloned the repository without --recursive, initialize the submodules with:

git submodule update --init --recursive

2. Setup Isaac ROS Common

The isaac_ros_common package is included as a submodule and provides essential functionality for working with NVIDIA's Isaac ROS packages. It will be automatically downloaded when cloning recursively.

3. Build the Workspace

cd isaac_ros-dev
colcon build --symlink-install

4. Source the Workspace

source install/setup.bash

Add this to your ~/.bashrc to make it permanent:

echo "source ~/path/to/IGVC/isaac_ros-dev/install/setup.bash" >> ~/.bashrc

Project Structure

IGVC/
├── isaac_ros-dev/          # Main ROS 2 workspace
│   ├── src/               # Source directory
│   │   └── isaac_ros_common/  # NVIDIA Isaac ROS common packages (submodule)
│   ├── build/             # Build artifacts (generated)
│   ├── install/           # Installation files (generated)
│   └── log/               # Log files (generated)
└── README.md              # This file

Development

Building the Project

To build all packages in the workspace:

cd isaac_ros-dev
colcon build --symlink-install

To build a specific package:

colcon build --packages-select package_name

Running Tests

colcon test
colcon test-result --verbose

Contributing

1. Fork the repository
2. Create your feature branch (git checkout -b feature/AmazingFeature)
3. Commit your changes (git commit -m 'Add some AmazingFeature')
4. Push to the branch (git push origin feature/AmazingFeature)
5. Open a Pull Request

License

This project is licensed under the MIT License - see the LICENSE file for details.

Acknowledgments

• NVIDIA Isaac ROS team for providing the isaac_ros_common packages
• ROS 2 community for the robotics framework

Contact

Your Name - @YourTwitter

Project Link: https://github.com/PixelPepper/IGVC