# pursuit_agv_release

**Repository Path**: cloudkernel-tech/pursuit_agv_release

## Basic Information

- **Project Name**: pursuit_agv_release
- **Description**: release file for pursuit AGV production
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 1
- **Forks**: 0
- **Created**: 2024-04-13
- **Last Updated**: 2025-05-17

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# Intro

Release guide for pursuit autopilot


## Method 1: Setup with native Ubuntu 18.04 host computer

The pursuit software is designed specifically for Ubuntu 18.04 with ROS melodic. For users with other Ubuntu versions, please refer to Method 2 alternatively.

(1) Add pursuit repository for apt update

	# Just add the key locally
	sudo apt-key add pursuit_ros_pubkey.asc 

        echo "deb https://mirror.cloudkernel.cn $(lsb_release -cs)-pursuit main" | sudo tee /etc/apt/sources.list.d/ros-pursuit.list

        sudo apt update

        sudo apt upgrade

(2) Download pursuit program for manual installation

Ubuntu 18.04 + ROS melodic computer only:

	# Clone release files 
	cd ~
	git clone https://gitee.com/cloudkernel-tech/pursuit_agv_release

	# Perform installation in the host computer
	cd ~/pursuit_agv_release
	bash Tools/install_prerequisites_host.sh


## Method 2: Setup with Docker container for pursuit production [Recommended]

(1) Setup the host computer (Ubuntu OS only):

	# Clone release files 
	cd ~
	git clone https://gitee.com/cloudkernel-tech/pursuit_agv_release

	# Perform installation in the host computer
	cd ~/pursuit_agv_release
	bash Tools/install_prerequisites_host.sh

	# Load the docker image we provide
	docker load < cloudkernel_dasa_rosnav.tar.gz

	# first run, if nvidia runtime error happens, please refer to: https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/latest/install-guide.html

	docker run -it --device /dev/ttyPursuit -v /home/$USER/src/catkinws_nav:/home/src/catkinws_nav --network host --name pursuit_agv_container dasa_rosnav:latest
	
	# exit the container
	exit 


(2) Update software in the docker container:

The pursuit software is maintained in the cloud, users are recommended to perform upgrade periodically:

		# Enter the pursuit_agv_container
		docker start pursuit_agv_container 
		docker exec -it pursuit_agv_container bash

		cd /home/src/catkinws_nav

		# First time use
		sudo apt install ros-melodic-yocs-velocity-smoother
		sudo apt-get -y install libgeographic-dev

		# Download and install required pursuit pkgs
		bash download_deb_from_pursuit_host.sh
		bash install_all_deb.sh


## Convenience scripts for operation

- Tools/run_pursuit_agv_nodes.sh: script to launch all nodes in the host computer and docker container for outdoor avoidance task