Onboarding Project

Running the docker container

Start the docker container by running:

docker compose up -d

This starts the container, and vnc so you can access it by going to localhost:6080 the username is ubuntu and the password is ubuntu.

Enter a docker shell by running:

docker compose exec -u ubuntu sim bash

In the shell, the autonomy test case for you will be run when you run this:

cb
ros2 launch rover_autonomy autonomy.launch.py

Monte Carlo Localization

The first part of the onboarding project will be to implement monte carlo localization for the rover. All of the scripts you will be writing are in the folder src/rover_autonomy/rover_autonomy.

For monte carlo localization, there is a file called mcl.py which has the functions you need to write.

Some good resources will add more as I find them:

https://www.youtube.com/watch?v=MsYlueVDLI0