The Multi-Incident Response Vehicle (MIRV) Rover is an autonomous rover capable of deploying from the tire bay of an F-150 Pick-up truck and placing Pi-Lit flares along the roadside. This rover is developed by the students of the Highlanders FRC team in conjunction with Neaera Consulting for the Virginia Tech Transportation Institute (VTTI).
To setup the MIRV codebase on your system, please see the installation instructions here.
To setup an AGX for a new MIRV Rover, please see the installation instructions here.
Currently the only launch file is road_slight_curve.launch in mirv_simulation, which launches the vehicle with sensors on a road in gazebo.
recommended folder structure:
- mirv (metapackage)
- mirv_control (real world/simulation-agnostic nodes)
- mirv_real (real-world sensor drivers/calibration)
- mirv_description (simulation meshes/sensor plugins/robot description, just robot specifics. If someone else wanted to use the robot for a different task, they would want these files)
- mirv_simulation (simulation launch files/worlds)
optional other packages:
- mirv_msgs (any custom messages that we define)
- mirv_tutorials (tutorials for using the rover/simulator)
- mirv_documentation
sudo systemctl stop mirv
sudo systemctl start mirv
roslaunch mirv_real mirv.launch
rosrun mirv_control RoverController.py
sudo shutdown
sudo poweroff
https://docs.nvidia.com/deeplearning/frameworks/install-pytorch-jetson-platform/index.html
export TORCH_INSTALL=https://developer.download.nvidia.cn/compute/redist/jp/v461/pytorch/torch-1.11.0a0+17540c5+nv22.01-cp36-cp36m-linux_aarch64.whl
sudo python3 -m pip install --no-cache $TORCH_INSTALL