Path Planning

Project 3

Teams

This project will be completed individually. You will not need a robot until the very end. At that point, we will assign two people per robot.

Getting Your Code

To get your starter code download the files by clicking here and extracting them, or by running the commands below in your terminal.

  • Navigate to a directory that is not already a git repository using cd. If running git status outputs fatal: ... you’re not in a git repository.
  • Download the files from the website wget https://robotics102.org/um-f24/assets/template_code/p3_path_planning_template.zip.
  • Unzip the files unzip p3_path_planning_template.zip.
  • Delete the zip archive rm p3_path_planning_template.zip.

Setting Up Your Repository

To be able to easily transfer your code between your laptop and your robot, you’ll want to create a remote repository on GitHub, create a local git repository in the folder you just downloaded, make an initial commit in your local repository, and push the commit to your remote repository. Follow the Setting Up a Repository guide to complete these steps.

You can refer back to the Git Tutorial on HelloRob to refresh on general Git and GitHub usage.

Building Your Code

  • Navigate to the root directory of your repository using cd.
  • Configure your build system by running one of the two commands below. You will only need to run this command once in a given local repository.
    • If your repository is on the robot run cmake -B build -DMBOT=ON.
    • If your repository is on your laptop run cmake -B build.
  • Run your build system using cmake --build build. You will need to re-run this every time you change your code.

Testing Your Code

To run your unit tests follow the steps below.

  • Navigate to the root directory of your repository using cd and make sure your code has been built, following the steps above.
  • Go down into the build directory of your repository by running cd build.
  • Run ctest --output-on-failure and read the output to see if all the tests for any functions you have implemented passed.

To run your code (on the robot) follow the steps below.

  • Navigate to the root directory of your repository using cd and make sure your code has been built, following the steps above.
  • Go down into the build directory of your repository by running cd build.
  • Run the executable associated with your current checkpoint with ./<executable_name>. For example
    • ./drive_square.
    • ./follow_1d.

The name of the executable and the expected behavior of the robot should be described in the instructions for the checkpoint.

Submitting Your Code

You must submit your code in order for it to be graded.

Your code will be graded in almost exactly the same way as you tested it. The test cases you have locally will be run along with another set of test cases that have a similar structure, but different values. We call the tests you already have public tests and the ones we’re hiding from you private tests. Both tests suites will be run on your code when you submit on Autograder.io. You will know exactly what your code did wrong if you fail public tests because you can see the output locally, but you won’t know exactly what went wrong if you fail the private tests. This is intentional.

To grade the performance of your robot, we need to see of video of it working. Take a video of your robot exhibiting the expected behavior and upload it to your Umich Google Drive. Please keep the video under 30 seconds. Copy the sharing link, and paste it in the appropriate spot in your README.md file. Make sure the sharing settings make your video available to anyone with the link. We will hand grade your demo videos after the project deadline. You will be able to see the grades for your demo videos via the handgrading rubric on Autograder.io.

To submit your code navigate to the project on Autograder.io and submit the requested files.