suniljha-iitd / dlive Goto Github PK
View Code? Open in Web Editor NEWDriverless Car Project
Driverless Car Project
Information shared by Rohit Mohan (BIT Mesra) [email protected] Steps to run Car Codes: 1.rosrun zed_wrapper zed_wrapper_node 2.rosrun vo vo_code.py 3.roslaunch driverless_car planning.launch (runs navigation stack, nav_can.py, controller) 4.change scale of pid in rqt_reconfigure(till this problem is solved) 5.change in auto_mode 6. either use rviz or run gui. rosrun driverless_car gui.py GPS_client.py receives data from the topic and plots on map client1.py receives data from server and publishes stereo odom data on a topic Instructions for plotting: GPS_client.py is the main file which does the plotting work. Have OpenCV installed along with OpenGL Ensure GPS socket address is same on the transmission side as well as in GPS_client.py. Publish the odometry data on the vo_pos topic which is of string format. Run GPS_Client.py for real-time plotting x_vo and y_vo are plotted on the map. Data received on vo_pos topic is processed to obtain x_vo and y_vo. In case of plotting data from any other source, write a suitable function for processing the data return it in x_vo and y_vo. Using OpenStreetMap (openstreetmap.org) I generated a .osm file which is a xml file containing lat long information of a given area. (Using export feature of site). This xml file contains all the information regarding roads, buildings etc in tag form. I went through ogm_cartography package of ros. The whole package wasn't required for our aim of generating static binary map for global planner. I wrote my own script to generate a .jpg file and .yaml file for a given .osm file using necessary functions from osm_cartography package. use - roslaunch driverless_car planning.launch for planning part use- rosrun driverless_car map_gen.py for map generation [July 12, 2017] Today's doubt solved one of my problems that I was facing. Question was whether the planner take velocity data or not and the answer is yes it takes. I edited the plugin which generated the odom data relative to gazebo world. I made all linear and angular velocity zero. In this case it showed the same symptoms that I had mentioned before. The speed of in twist msg of cmd_vel never exceeded 0.5m/s (given by move_base). And then I realized that when the car is moving in x direction, base_link and odom have same direction so speed went to 5m/s or more. When base_link was at 90degree to odom. Odom.twist.linear.x became zero and Odom.twist.linear.y became base_link velocity. The local planner took odom.twist.linear.x as input which was zero and behaved in the same 0.5m/s speed. Since for the planner, feedback told it that car is till at 0 so it never gave high speed input to follow. I changed the plugin in such a way that now odom reflects required condition. And Teb_local_planner works fine in terms of speed. Oscillation is still there which needs to be addressed. Summary: Odom should contain the x velcoity which is the base_link velocity for proper working. and angular velocity as well in z direction. Note: Base_link is the car';s main link wrt to which all other parameters such sensors are placed.
A declarative, efficient, and flexible JavaScript library for building user interfaces.
๐ Vue.js is a progressive, incrementally-adoptable JavaScript framework for building UI on the web.
TypeScript is a superset of JavaScript that compiles to clean JavaScript output.
An Open Source Machine Learning Framework for Everyone
The Web framework for perfectionists with deadlines.
A PHP framework for web artisans
Bring data to life with SVG, Canvas and HTML. ๐๐๐
JavaScript (JS) is a lightweight interpreted programming language with first-class functions.
Some thing interesting about web. New door for the world.
A server is a program made to process requests and deliver data to clients.
Machine learning is a way of modeling and interpreting data that allows a piece of software to respond intelligently.
Some thing interesting about visualization, use data art
Some thing interesting about game, make everyone happy.
We are working to build community through open source technology. NB: members must have two-factor auth.
Open source projects and samples from Microsoft.
Google โค๏ธ Open Source for everyone.
Alibaba Open Source for everyone
Data-Driven Documents codes.
China tencent open source team.