Quick Start

Get the AV2 running in 5 minutes. This guide assumes all hardware is already set up and connected.

1. Clone the Repository

git clone https://github.com/cpp-avl/utm-navigator.git
cd utm-navigator

2. Create Virtual Environment

python3 -m venv venv
source venv/bin/activate

3. Install Dependencies

pip install -r requirements.txt

4. Verify Sensor Connections

Run the sensor check script:

python scripts/check_sensors.py

Expected output:

[OK] Xsens MTi-630 connected on /dev/ttyUSB0
[OK] Velodyne VLP-16 receiving data on port 2368
[OK] Camera detected at /dev/video0
[OK] Teensy CAN master connected on /dev/ttyACM0

5. Run a Basic Test

Start the system in manual mode to verify everything works:

python manual_control.py

Use the keyboard controls:

  • W/S - Throttle forward/reverse

  • A/D - Steering left/right

  • Space - Brake

  • Q - Quit

6. Run Autonomous Navigation

Once manual control works, try autonomous navigation:

python runner.py --lat 34.0577 --lon -117.8215

Warning

Always have an operator ready to take manual control. Ensure the test area is clear of obstacles and people.

Next Steps

  • Installation - Complete installation guide with troubleshooting

  • Basic Navigation - Detailed navigation tutorial

  • ../hardware/index - Hardware documentation