Changes between Version 32 and Version 33 of Other/Summer/2023/SelfDriving


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Timestamp:
Aug 1, 2023, 4:22:08 PM (10 months ago)
Author:
tochu
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  • Other/Summer/2023/SelfDriving

    v32 v33  
    2121|| Continue work on the miniature autonomous car hardware project developed last summer (see the project page here: [https://www.orbit-lab.org/wiki/Other/Summer/2022/Hardware]). \\\\ The goal for this summer is to finish prototyping the hardware and develop drivers to control the car with ROS. \\ If time allows, once the ROS integration is complete, we will be able to develop and test machine learning models to control the car. || Develop a remote-controllable car which can be used to mimic the path taken by a car in the real intersection. \\\\ For this platform, mecanum wheels will be used to allow for real-time corrections to the path.\\ The platform will be developed using Robot Operating System (ROS). \\ Students will need to prototype hardware and develop software to extract the path from video of the real intersection, translate that into a path for the miniature intersection, and produce a set of commands for the car. ||
    2222
     23*RASCAL pseudonyms: `UpCar`, `BARTHOLOMEW`
     24
     25*SCAMP pseudonyms: `MIMIC`, `CORNELIUS`
     26
    2327=== Week 1 ===
    2428[https://docs.google.com/presentation/d/1xI1j6bT0DHHZn49lkX46HIa0S8HK6EFORhHdp0s7ubw/edit?usp=sharing Week 1 Slides]
    … …  
    6266||= RASCAL =||= MIMIC =||
    6367|| Finished designing BARTHOLOMEWTWO and successfully ran the imitation learning model || Able to follow a path drawn on the web server ||
     68
    6469=== Week 8 ===
    65 [ Week 8 Slides]
     70[https://docs.google.com/presentation/d/1a7_UKj993JpUqb-6AmBOYRsbLaYymeJoxLLY6LJCFNw/edit?usp=sharing Week 8 Slides]
     71
     72||= RASCAL =||= MIMIC =||
     73|| Tested pure pursuit and normalized ML inputs || Implement full omni-drive motion for path following ||
     74
    6675
    6776=== Week 9 ===
    … …  
    7382=== Project Setup Instructions ===
    7483
    75 VM setup instructions:
    76 
    77 - Download virtualbox https://www.virtualbox.org/wiki/Downloads
    78 - Download ubuntu https://releases.ubuntu.com/focal/
    79 - Follow a guide to install ubuntu on Virtualbox: https://www.wikihow.com/Install-Ubuntu-on-VirtualBox
    80     - If you are on mac, MAKE SURE you start Virtualbox by typing "sudo virtualbox" in the commandline, instead of starting it normally. This is the only workaround I could find to get controller input to work in virtualbox!
    81 - If you are using Ubuntu 22.04, then there is a bug when using it with VirtualBox where you can't open the terminal by default. You need to update the locale of the machine for some reason. Follow this link to get into terminal mode: https://superuser.com/questions/100693/how-to-switch-to-non-graphical-view-in-ubuntu
    82     - Then follow this to update the locale: https://askubuntu.com/questions/1435918/terminal-not-opening-on-ubuntu-22-04-on-virtual-box-7-0-0
    83     - Restart the VM (power it off and on in VirtualBox) and now you should be able to open the terminal in Graphical mode
    84 - You will need to have Sudo access on your account in Ubuntu. Follow this StackOverflow: https://askubuntu.com/questions/124166/how-do-i-add-myself-into-the-sudoers-group
    85 - Run "sudo apt update" to update packages before doing things.
    86 - If you want to be able to ssh into the VM through your local machine, you need to set up port forwarding on the VM. Follow this guide: https://help.skytap.com/connect-to-a-linux-vm-with-ssh.html
    87 
    88 ROS setup instructions:
    89 
    90 - Follow these instructions to set up ROS Noetic: http://wiki.ros.org/noetic/Installation/Ubuntu
    91     - Note: any time you edit a startup file, like .bashrc, you need to logout and login (on VM you might need to power it off and on) for the effects to take place.
    92     - ROS Noetic is used for Ubuntu 20.04 (on RASCAL's Intel UpBoard), ROS Melodic is used for Ubuntu 18.04 (on SCAMP's and new RASCAL's Jetson Nano)
     84
     85
    9386
    9487Set up SSH key for Gitlab
    … …  
    123116        - Changing groups requires the user to log out and in for effects to take place
    124117- Install the realsense package (Add Link!)
     118
     119ROS setup instructions:
     120
     121- Follow these instructions to set up ROS Noetic: http://wiki.ros.org/noetic/Installation/Ubuntu
     122    - Note: any time you edit a startup file, like .bashrc, you need to logout and login (on VM you might need to power it off and on) for the effects to take place.
     123    - ROS Noetic is used for Ubuntu 20.04 (on RASCAL's Intel UpBoard), ROS Melodic is used for Ubuntu 18.04 (on SCAMP's and new RASCAL's Jetson Nano)
    125124
    126125Using ROS:
    … …  
    139138- To be able to import python modules from within the same package: make sure catkin_python_setup() is uncommented in the package's CMakeLists.txt. Then reference the directory structure visible in the rascal package. Make sure to include the "setup.py" file in the package's directory.
    140139
     140
     141VM setup instructions:
     142
     143- Download virtualbox https://www.virtualbox.org/wiki/Downloads
     144- Download ubuntu https://releases.ubuntu.com/focal/
     145- Follow a guide to install ubuntu on Virtualbox: https://www.wikihow.com/Install-Ubuntu-on-VirtualBox
     146    - If you are on mac, MAKE SURE you start Virtualbox by typing "sudo virtualbox" in the commandline, instead of starting it normally. This is the only workaround I could find to get controller input to work in virtualbox!
     147- If you are using Ubuntu 22.04, then there is a bug when using it with VirtualBox where you can't open the terminal by default. You need to update the locale of the machine for some reason. Follow this link to get into terminal mode: https://superuser.com/questions/100693/how-to-switch-to-non-graphical-view-in-ubuntu
     148    - Then follow this to update the locale: https://askubuntu.com/questions/1435918/terminal-not-opening-on-ubuntu-22-04-on-virtual-box-7-0-0
     149    - Restart the VM (power it off and on in VirtualBox) and now you should be able to open the terminal in Graphical mode
     150- You will need to have Sudo access on your account in Ubuntu. Follow this StackOverflow: https://askubuntu.com/questions/124166/how-do-i-add-myself-into-the-sudoers-group
     151- Run "sudo apt update" to update packages before doing things.
     152- If you want to be able to ssh into the VM through your local machine, you need to set up port forwarding on the VM. Follow this guide: https://help.skytap.com/connect-to-a-linux-vm-with-ssh.html
    141153
    142154To run the simulation on a VM:
    … …  
    176188-> https://github.com/PaulStoffregen/teensy_loader_cli/releases
    177189
    178 
    1791902. Use **wget** to download the tar files and extract them with **tar -xvf {filename}**
     191
     192- Follow the instructions on the teensy_loader_cli github (Run `sudo apt-get install libusb-dev` for Ubuntu, and `make` to compile to an executable)
    180193
    181194