# ARTC
## Prerequisites
* OS
* Ubuntu 22.04
* Ros
* ROS2 Humble
* Git

sudo apt-get -y update
sudo apt-get -y install git

## Guide
1. Download autoware

cd ~
mkdir artc_project
cd artc_project
git clone https://github.com/Aesop-programmer/artc_car.git
cd artc_car

2. Install the dependencies ,you could use Ansible script or install them manually.For manually, please check this website [download manually](https://autowarefoundation.github.io/autoware-documentation/main/installation/autoware/source-installation/)

./setup-dev-env.sh

3. compile autoware

cd ~/artc_project/artc_car/
mkdir src
vcs import src < autoware.repos
source /opt/ros/humble/setup.bash
rosdep update
rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release --parallel-workers 1

4. download velodyne(ros2版本）

cd ~/artc_project
git clone https://github.com/ros-drivers/velodyne.git
cd velodyne
git checkout ros2
mkdir src
mv velodyne velodyne_driver velodyne_laserscan velodyne_msgs velodyne_pointcloud src
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release --parallel-workers 1

5. download sicklms (用2.10.2版本）

cd ~/artc_project
mkdir -p ./sick_scan_ws
cd ./sick_scan_ws
mkdir ./src
pushd ./src
git clone https://github.com/SICKAG/libsick_ldmrs.git
git clone https://github.com/SICKAG/msgpack11.git
git clone https://github.com/SICKAG/sick_scan_xd.git
popd
rm -rf ./build ./build_isolated/ ./devel ./devel_isolated/ ./install ./install_isolated/ ./log/ # remove any files from a previous build
source /opt/ros/humble/setup.bash
colcon build --packages-select libsick_ldmrs --event-handlers console_direct+
source ./install/setup.bash
colcon build --packages-select msgpack11 --cmake-args " -DMSGPACK11_BUILD_TESTS=0" --event-handlers console_direct+
source ./install/setup.bash
colcon build --packages-select sick_scan_xd --cmake-args " -DROS_VERSION=2" --event-handlers console_direct+
colcon build --packages-select libsick_ldmrs --event-handlers console_direct+
source ./install/setup.bash
colcon build --packages-select msgpack11 --cmake-args " -DMSGPACK11_BUILD_TESTS=0" --event-handlers console_direct+
source ./install/setup.bash
colcon build --packages-select sick_scan_xd --cmake-args " -DROS_VERSION=2" --event-handlers console_direct+

6. Download ARTC map

cd ~/artc_project
git clone https://github.com/NEWSLabNTU/ARTC-map-project-2023.git

artc是否有權限下載？
7. launch

source ~/artc_project/artc_car/install/setup.bash
source ~/artc_project/velodyne/install/setup.bash
source ~/artc_project/sick_scan_ws/install/setup.bash
ros2 launch autoware_launch autoware.launch.xml vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit map_path:=~/artc_project/ARTC-map-project-2023/autoware_map

## NTU contribution
1. modify the following file accroding to ARTC_car model
1. vehicle_info.param.yaml
2. mirror.param.yaml
3. vehicle.xacro
2. modify the following file according to ARTC_sensor location
1. sensors.xacro
2. sensor_kit.xacro
3. sensors_calibration.yaml
4. sensor_kit_calibration.yaml
3. modify the following file to integrate ARTC_sensor into autoware
1. sensing.launch.xml
2. lidar.launch.xml
3. pointcloud_preprocessor.launch.py