Here a general overview of the software used in the ADC competition is presented, including both the real and simulated robots. The links to a more detailed description of each one of the parts are also included.
Throughout all the software description, there will mainly exist three types of software modules that will be color marked to easily distinguish them:
Throughout all the software description, there will mainly exist three types of software modules that will be color marked to easily distinguish them:
***Base modules**: these are the software modules provided by IRI that have to be used as they are, not being able to modify them or use an alternative implementation. These modules are marked in red in the following description.
***Base modules**: these are the software modules provided by IRI that have to be used as they are, not being able to modify them or use an alternative implementation. These modules are marked in red in the following diagrams.
***Optional modules**: these are the other software modules provided by IRI as an example of a simple and basic implementation of all the functionalities required for the ADC competition. These modules may be enough to complete very simple tasks, but in order to complete the ADC competition challenges you will need to upgrade them or use your own software modules. These modules are marked in green in the following diagrams.
***External modules**: these are general ROS packages that are used to complete the functionality provided by the IRI software modules. These modules are marked in blue in the following diagrams.
***External modules**: these are general ROS packages that are used to complete the functionality provided by the IRI software modules. These modules are marked in blue in the following diagrams.
Both the base and optional software modules provided have been extensively tested, however it is still possible to find some bugs. In order to improve the software for all teams, if you find some possible bug, please report it using the issues mechanism of the [IRI Gitlab]() or email us at:
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with the necessary information to solve the bugs.
The next figure image shows the structure of all software associated with the ADC competition:
The next image shows the structure of all software associated with the ADC competition:
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*[opendrive_to_gazebo](https://gitlab.iri.upc.edu/mobile_robotics/adc/libraries/opendrive_to_gazebo): C++ library to parse an OpenDrive 1.4 road file format and extract the signals and objects to be used in the Gazebo simulator.
*[opendrive_to_roadmap](https://gitlab.iri.upc.edu/mobile_robotics/adc/libraries/opendrive_road_map): This library is intended to find the shortest path between two points on a road (defined by the OpenDrive format) and then generate the geometric trajectory so it can be used as a global plan for a navigation framework.
*[opendrive_road_map](https://gitlab.iri.upc.edu/mobile_robotics/adc/libraries/opendrive_road_map): This library is intended to find the shortest path between two points on a road (defined by the OpenDrive format) and then generate the geometric trajectory so it can be used as a global plan for a navigation framework.
## Real robot
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*[rgb_leds_driver](https://gitlab.iri.upc.edu/mobile_robotics/adc/adc_2021/rgb_leds_driver): This C++ library includes the Linux drivers to handle both the car lights and the semaphores in the environment.
*[iri_model_car_actuators_driver](https://gitlab.iri.upc.edu/mobile_robotics/adc/platforms/model_car/iri_model_car_actuators_driver): This ROS package is a wrapper of the model car actuators C++ driver. It accepts the desired speed and steering angle and sends the necessary command to the Arduino board. It also publishes the joint state information of the wheel and steering joints defined in the URDF file.
*[iri_model_car_actuators_driver](https://gitlab.iri.upc.edu/mobile_robotics/adc/platforms/model_car/iri_model_car_actuators_driver): This ROS package is a wrapper of the model car actuators C++ driver. It accepts the desired speed and steering angle and sends the necessary command to the Arduino board. It also publishes the joint state information of the wheels and steering joints defined in the URDF file.
*[iri_model_car_egomotion_driver](https://gitlab.iri.upc.edu/mobile_robotics/adc/platforms/model_car/iri_model_car_egomotion_driver): This ROS package is a wrapper of the model car egomotion C++ driver. It publishes the IMU and wheel encoder data from the model car.
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## Simulated robot
This groups includes all the ROS packages needed to operate the simulated robot. The next diagram shows all these software modules and the relationship between them:
This group includes all the ROS packages needed to operate the simulated robot. The next diagram shows all these software modules and the relationship between them:
<imgsrc="docs/images/software_simulated_robot.png"alt="Specific software modules for the simulated robot">
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This framework provides the necessary tools to:
* Geometrical description of the car and TF information between all frames.
* Geometrically describe the car and to publish TF information between all frames.
* Make all sensor data available using both standard and specific ROS messages (2D LIDAR, front and rear cameras, encoders, etc).
* Control the motion of the model car using a standard Twist ROs message (cmd_vel).
* Control the motion of the model car using a standard Twist ROS message (cmd_vel).
* Basic estimation of the robot's odometry fusing the wheel encoders and the IMU sensor using the [robot_localization](http://wiki.ros.org/robot_localization) ROS package.
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### Navigation framework
This framework provide the necessary tools to:
This framework provides with:
* A [command velocity multiplexer](http://wiki.ros.org/yocs_cmd_vel_mux) to accept motion commands from the teleop, navigation and other interfaces with pre-defined priorities.
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* A custom local planner to take into account the ackermann kinematic constraints of a car-like robot.
*Set of launch files to easily use the car in several common settings (navigation with or without map, mapping, etc.)
*A set of launch files to easily use the car in several common settings (navigation with or without map, mapping, etc.)
The next diagram shows all these software modules and the relationship between them:
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*[iri_model_car_rosnav](https://gitlab.iri.upc.edu/mobile_robotics/adc/platforms/model_car/iri_model_car_rosnav): This package contains navigation related parameter and launch files particular to the model car robot.
*[iri_model_car_rosnav](https://gitlab.iri.upc.edu/mobile_robotics/adc/platforms/model_car/iri_model_car_rosnav): This package contains navigation related parameters and launch files particular to the model car robot.
## ADC competition framework
The ADC framework, mainly provides the same feature of the model car framework with the specific configuration for the ADC competion. Additionally, it also provides a new navigation framework using Opendrive based maps and the communication framework with the jury.
The ADC competition framework, mainly provides the same feature of the model car framework with the specific configuration for the ADC competion. Additionally, it also provides a new navigation framework using Opendrive based maps and the communication framework with the jury.
Both frameworks are described in more detail in the next two sections.
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*[iri_adc_launch](https://gitlab.iri.upc.edu/mobile_robotics/adc/adc_2021/iri_adc_launch): This package provide some ADC participant oriented launch files and configuration files to start up the model car and run some advanced functionalities.
*[iri_adc_marker_loc]():
*[iri_adc_landmarks_slam_solver](https://gitlab.iri.upc.edu/mobile_robotics/adc/adc_2021/iri_adc_landmarks_slam_solver): This node provides a global localization by landmarks.
*[iri_adc_circuit_example](https://gitlab.iri.upc.edu/mobile_robotics/adc/adc_2021/iri_adc_circuit_example): This package provide some ADC participant oriented launch files and configuration files to start up the model car and run some advanced functionalities.
*[iri_adc_circuit_example](https://gitlab.iri.upc.edu/mobile_robotics/adc/adc_2021/iri_adc_circuit_example): This package contains some ADC participant oriented example circuits and the related files to work with.
### Jury communication framework
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On the other hand, the optional modules that can be modified, upgraded or substituted by user defined software modules are:
