MushrBus is forked from the MuSHR Project
Multi-agent System for non-Holonomic Racing or MuSHR platform is designed for indoor vehicles; this fork takes it outdoors with the ultimate goal of using full-scale micro-vehicles. Indoor systems such as overhead cameras are not permitted. GNSS will be added. This repository will contain code to implement a system on the Jetson Nano and flash an SD card.
The MuSHR Bus is a scale model of the modular bus: https://www.researchgate.net/publication/356194082_Improved_Bus_Service_on_Ten_Times_Less_Energy. The lead bus vehicle is driven manually, but all following vehicles are completely automated. The behavior to be shown includes:
- Accelerating from a parked state to join onto the rear of the bus platoon
- Driving bumper-to-bumper when platooned with vehicles exerting minimal force on each other
- Separating from and leaving the platoon at the destination bus stop
The commands present in this guide assume that the target jetson nano has access to the internet, and has the base image installed as described here The instructions here supersede other installation instructions.
This repository uses a series of Submodules.
To clone with all files:
git clone --recurse-submodules https://github.com/elcano/MushrBus.git
Run the primary install script with administrator privileges
source MushrBus/MicroAV/microav_install_script.sh
All individual pieces will need to be moved into the catkin workspace and then built. Use this support command or move them manually.
cp -r ~/MushrBus/mushr_ackermann_drive ~/MushrBus/jetson-module ~/MushrBus/jetson-tracker ~/catkin_ws/src
Move into the catkin workspace
cd ~/catkin_ws/
Build the catkin projects we just added
catkin_make
Run the setup.sh
source devel/setup.sh
Install scripts and vehicle image setup found in MicroAV folder