Starter Code of Polaris GEM e2 for ECE484 and CS588

Center for Autonomy at University of Illinois Urbana-Champaign

Author: Hang Cui ([email protected])

System: Ubuntu 20.04 + ROS Noetic

Polaris GEM e2 Vehicle

GNSS/INS RTK

Front ZED2 Stereo Camera (Color)

Front ZED2 Stereo Camera (Depth)

Front Left Corner Camera

Front Right Corner Camera

Rear Camera

Demo

$ cd ~/demo_ws/
$ catkin_make

$ source devel/setup.bash
$ roslaunch basic_launch sensor_init.launch

$ source devel/setup.bash
$ roslaunch basic_launch visualization.launch

$ source devel/setup.bash
$ roslaunch basic_launch dbw_joystick.launch

GNSS-based waypoint follower with Stanley controller and RTK enabled

Click the video below.

$ source devel/setup.bash
$ roslaunch basic_launch gem_pacmod_control.launch

$ source devel/setup.bash
$ rosrun gem_gnss_control gem_gnss_tracker_stanley_rtk.py

GNSS-based waypoints follower with Pure Pursuit controller

Click the video below.

$ source devel/setup.bash
$ rosrun gem_gnss_control gem_gnss_tracker_pp.py

Vision based (monovision camera) lane following using Stanley controller

Click the video below (still under development).