Onboarding

Welcome to KITcar Simulation’s Onboarding! Here, you can dive into our repository and get ready to join the team. You will be introduced to the fundamental structure of the repository, find out how we use ROS, and write your own Python node. There are also several tasks you need to complete!

We write most of our code in Python3.8. Even if you have never used Python before, you will probably be able to read through the Onboarding and understand almost everything. However, to complete the tasks, you will need to write code yourself. If you haven’t used Python before, you can take a look at one of the many Python courses available online. Here are just a few suggestions:

• https://docs.python.org/3/tutorial/index.html

• https://www.youtube.com/watch?v=YYXdXT2l-Gg&list=PL-osiE80TeTt2d9bfVyTiXJA-UTHn6WwU

Before we get started, you need to install kitcar-gazebo-simulation by following the Installation.

Ready, set, go!

Content

• 1. Git
  • 1.1. Create a Branch
  • 1.2. Commit
  • 1.3. Push
• 2. Repository
  • 2.1. Root
  • 2.2. Docs
  • 2.3. Init
  • 2.4. Simulation
• 3. Road
  • 3.1. Road sections
  • 3.2. Road directory
  • 3.3. Simple road
• 4. ROS Packages
  • 4.1. Launch directory
  • 4.2. Message directory
  • 4.3. Parameter directory
  • 4.4. Scripts directory
  • 4.5. Source directory
  • 4.6. CMakeLists file
  • 4.7. Package file
  • 4.8. Setup file
• 5. ROS Node
  • 5.1. __init__
  • 5.2. start
  • 5.3. stop
  • 5.4. steer
• 6. ROS Publisher
  • 6.1. Gazebo Plugins
  • 6.2. Create the Publisher
  • 6.3. Publish messages
  • 6.4. Drive along the road
• 7. ROS Parameters
  • 7.1. Replace Constants with Parameters
• 8. ROS Subscriber
  • 8.1. Speed Message
  • 8.2. Create a Subscriber
  • 8.3. Change the Car’s Speed
• 9. Road Sections
  • 9.1. StraightRoad
  • 9.2. ParkingArea
  • 9.3. Intersection
  • 9.4. ZebraCrossing
  • 9.5. CircularArc
  • 9.6. BlockedArea
  • 9.7. TrafficIsland
  • 9.8. Create Road
• 10. Path
  • 10.1. Geometry Package
  • 10.2. Drive on the Road
• 11. All done