ARCPro Docs Home

Our robotic car is designed and built to autonomously navigate unknown areas and create accurate 2D/3D maps. Also, the vehicles are capable of intra-vehicular and vehicle-to-infrastructure communication. In this tutorial, we will go through the hardware design of ARCPro first. Then the instruction to turn on the cars and hardware setup is explained step-by-step. Lastly, we instruct you to use ARCPro software to launch different sensors (e.g., LiDAR, depth camera).

Warning

Running ROS1? Please see our deprecated ROS 1 Documentation here

Warning

This site is still under construction, and as such some page links may be missing or hidden

First time Setup guide:

• hardware (start here)
• VESC aka FSEC

Software:

• YDLidar X4 Pro and 435i realsense
• Calibrating your car
• Fusing sensors with robot_localization
• Pairing

Runing the example software

• Sensor and motor drive commands
• Example waypointing run commands

Repository File layout

All folders below are inside the src folder:

• base Houses all code esential for driving the robot, running the lidar, and twist command conversion
  • YDLidar: Lidar code
  • f1tenth_to_arcpro: A forked repo of f1tenth repo
  • twist_to_ackermann: A forked repo of the repo’s name. Used to convert message types
• examples Houses all example projects completed on this car
  • arc_rl_interface: Reinforcement learning repo Running the Sim and sim2real
  • waypointer: - waypointer : Example waypointing in sim and irl

Credits

Regarding hardware and software information for the ARC system, most information and tutorials can be found on the MuSHR website which is the project ARC is derived from.

For any questions or concerns, feel free to reach out to us at:

arikak@ou.edu (Software) and dvargas88@ou.edu (Hardware & MiniCity)**.

There is also a forum for MuSHR issues located in their GitHub organization discussions.

Outside Resources

Regarding the software for the MuSHR/ARC system, most information and tutorials can be found on the MuSHR website or f1tenth site.

For any questions or concerns, feel free to reach out to Arika Khor at arikak@ou.edu. There is also a forum for MuSHR issues located in their GitHub organization discussions

For the purposes of documentation, we will only go over methods and information relevant to running the base sensors in ARC system, and anything that might be of resource to a new user

• index
• arcpro run commands
• arcpro waypointer example run
• Pairing
• original docs
• Fusing sensors with robot_localization
• hardware
• index
• YDLidar X4 Pro and 435i realsense
• Using nav2 with slamtoolbox
• VESC aka FSEC