🚗⚡ Mini Tesla: Self-Driving Vehicle

🎥 See It In Action

Mini Tesla navigating complex obstacle with precision

Real-time sensor fusion and obstacle detection

🧠 Intelligent Features

• 🗺️ Smart Path Planning: Dijkstra algorithm implementation for optimal route finding
• 🏃‍♂️ Dynamic Wall Following: Smooth navigation through complex environments using advanced control algorithms
• 👁️ Multi-Sensor Fusion: Camera and LiDAR data seamlessly integrated for 360° awareness
• 🚨 Collision Avoidance: Real-time vehicle detection with intelligent emergency braking
• 📡 Live Visualization: Professional-grade monitoring through Foxglove Studio integration

🚀 Quick Start Guide

Prerequisites

Make sure you have ROS2 Foxy installed and a passion for autonomous vehicles!

Installation

# Clone the complete workspace with all submodules
git clone --recurse-submodules git@github.com:GLO-3013-eq09/design3_ws.git
cd design3_ws

# Install all dependencies automatically
rosdep install --from-paths src -y --ignore-src --rosdistro=foxy --include-eol-distros

Hardware Setup

Configure your LiDAR sensor for optimal performance:

# Setup udev rules for consistent device mapping
# This ensures your LiDAR appears at /dev/sensors/lidar with proper permissions

Launch Your Mini Tesla

cd design3_ws

# Build the entire system
./build.bash

# Activate your workspace
source source_ws.bash

# Start your autonomous vehicle!
restart_design3  # Systematic service restart for clean initialization

🔬 Testing & Quality Assurance

Ensure your Mini Tesla performs flawlessly:

./test.bash

This runs comprehensive tests and generates code coverage reports to maintain the highest quality standards.

📊 Real-Time Visualization & Monitoring

Experience your Mini Tesla like never before with professional visualization tools:

Setup Instructions:

1. Connect to Robot Network: Join the RoverTeam3 WiFi network from your laptop
2. Launch the System: Start all Mini Tesla services on the robot
3. Open Foxglove Studio:
   • Launch Foxglove on your personal machine
   • Select Open connection to a robot
   • Choose Rosbridge
   • Connect to: http://192.168.12.1:9090
4. Monitor Everything: Watch real-time sensor data, path planning, and vehicle status

🏗️ Architecture Overview

This workspace (design3_ws) serves as the central hub for all Mini Tesla components:

• Modular Design: Each ROS2 package is organized as a git submodule for clean dependency management
• Central Control: The design3_system package orchestrates all subsystems through carefully crafted launch files
• Scalable Architecture: Built to grow with your autonomous driving ambitions

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"The best way to predict the future is to invent it." - Build your autonomous future with Mini Tesla 🚗⚡