Repository for IGVC 2025
#These packages need to be installed: Make sure to also run sudo apt update first.
sudo apt install -y \
ros-humble-desktop \
ros-humble-gazebo-ros-pkgs \
ros-humble-gazebo-ros \
ros-humble-joint-state-publisher \
ros-humble-robot-localization \
ros-humble-nav2-bringup \
ros-humble-tf2-ros \
ros-humble-tf2-tools \
ros-humble-ros2-control \
ros-humble-joint-state-publisher-gui \
ros-humble-xacro \
ros-humble-nmea-msgs \
ros-humble-mavros-msgs \
ros-humble-rosbridge-server#Install Python dependencies for AI/ML modules: Make sure you have pip installed, then run:
pip install torch transformersIf you clone this repository, you'll need to initialize the submodules after cloning:
Clone the main repository:
git clone <main-repo-url>Navigate into the repository:
cd <repository-name>Initialize and update the submodules:
git submodule update --init --recursiveIf you've already cloned the repository and want to update the submodules to the latest commit:
git submodule update --recursive --remoteTo update a specific submodule:
cd <submodule-directory>
git pull origin <branch>
cd ..
git add <submodule-directory>
git commit -m "Update submodule to latest commit"
git pushThis section contains the modules and tools related to the localization of the robot, which allows it to determine its position in the environment.
This section contains the code and algorithms used for the navigation system of the robot, ensuring that it moves efficiently and safely.
This section includes perception modules, which allow the robot to detect and recognize objects in its environment using sensors like cameras and LIDAR.
Utilities and tools that assist in building and maintaining the robot’s functionality.
The core base software for the Shanti robot platform, managing essential control and integration with other modules.