This repository contains the code for our ground robot FourTran. The robot would be actuated using four brushed DC motors and contains omni-wheels which enable it to perform motions like sway and differential turning.

The main purpose of the robot is to act as a testing robot for our vision and controls algorithms which we later hope to implement on our underwater vehicle.

1. Create a catkin worspace following the guidelines given here

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
catkin_init_workspace
cd ..
catkin_make

2. Clone this repository to your catkin workspace

cd ~/catkin_ws/src
git clone https://github.com/AUV-IITK/fourtran.git

3. Install all dependency packages to run the repository

# TODO List

4. Build the package using catkin_make

cd ~/catkin_ws
# To maximize performance, build the workspace in Release mode
catkin_make -DCMAKE_BUILD_TYPE=Release

To get started with contributing to this repository, look out for open issues here. Kindly read the Developer's Guide before sending a pull request! :)