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art_msgs art_perception_msgs art_control_launch art_description_launch art_launch art_localization_launch art_perception_launch art_planning_launch art_sensing_launch art_simulation_launch art_vehicle_launch launch_utils art_art5_meta art_common_meta art_dev_meta art_oak_meta convoy_controller pid_lateral_controller pure_pursuit_follower description ekf_estimation ground_truth localization_shared_utils navsat_util particle_filter_estimation centerline_objects_path_planner spline_path_planner waypoints_path_planner cone_detector chrono_sensor_filters arduino_driver

Checkout URI	https://github.com/uwsbel/autonomy-research-testbed.git
VCS Type	git
VCS Version	master
Last Updated	2024-09-18
Dev Status	UNMAINTAINED
CI status	No Continuous Integration
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Name	Version
art_msgs	0.0.0
art_perception_msgs	0.0.0
art_control_launch	0.1.0
art_description_launch	0.1.0
art_launch	0.1.0
art_localization_launch	0.1.0
art_perception_launch	0.1.0
art_planning_launch	0.1.0
art_sensing_launch	0.1.0
art_simulation_launch	0.1.0
art_vehicle_launch	0.1.0
launch_utils	0.0.0
art_art5_meta	1.0.0
art_common_meta	0.0.0
art_dev_meta	1.0.0
art_oak_meta	1.0.0
convoy_controller	0.0.0
pid_lateral_controller	0.0.0
pure_pursuit_follower	0.0.0
description	0.0.0
ekf_estimation	0.0.0
ground_truth	0.0.0
localization_shared_utils	0.0.0
navsat_util	0.0.0
particle_filter_estimation	0.0.0
centerline_objects_path_planner	0.0.0
spline_path_planner	0.0.0
waypoints_path_planner	0.0.0
cone_detector	0.0.0
chrono_sensor_filters	0.0.0
arduino_driver	0.0.0

Autonomy Research Testbed (ART)

ART is meant to be a testbed for automated driving algorithm development and is to be used as a mechanism for validating the simulation platform Chrono. The ART platform is under activate development by the Simulation Based Engineering Laboratory at the University of Wisconsin-Madison.

Background

The ART platform provides the following resources for expediting development of autonomous algorithms:

A parts list and instructions on how to build the physical platform
A high-fidelity simulation environment built using Chrono to test autonomous algorithms
A development workflow for writing ROS 2 code and various already implemented algorithms
A database system to expedite data recording and parsing and an accompaning command line interface

For more information about the design considerations and purpose for this project, see the background section.

Contact the Simulation Based Engineering Laboratory for any questions or concerns regarding the contents of this repository.