Autonomous Driving Platform with Tracking Function

Contents

• About
• Installation Instructions
  • Prerequisites
  • Message Generation
  • Build the workspace
  • Multi turtlebot Gazebo world
• Examples
  • Multi turtlebot Tracking Stimulation
  • Running on ROS WHILL

Authors: Chen and David

Here is the demo video we apply this Project to the NUS ARC Whill

About

This project is based on the NUS ME5400A Robotics Project 1, it aims to develope and Autonomous Driving Platform with Tracking Function.

Installation Instructions

Prerequisites

• Ubuntu 20.04 LTS
• ROS1 - Noetic
• Pysot

Install Pysot,

cd
git clone https://github.com/STVIR/pysot.git

Setup Pysot environment,

pip install numpy==1.21.0
pip install pytorch==2.2.1
pip install opencv-python
pip install pyyaml yacs tqdm colorama matplotlib cython tensorboardX

Build Pysot extensions,

cd ~/pysot
python setup.py build_ext --inplace

Run this command every time before you run the tracking node, or add it in to ~/.bashrc

export PYTHONPATH=~/pysot:$PYTHONPATH

Download the Pysot model from Here And put it into ~/ME5400_Final/src/tracking/scripts/pysot/siamrpn_r50_l234_dwxcorr_lt

Install all non-ROS prerequisite packages,

sudo apt-get install ros-noetic-joy ros-noetic-teleop-twist-joy ros-noetic-teleop-twist-keyboard ros-noetic-laser-proc ros-noetic-rgbd-launch ros-noetic-depthimage-to-laserscan ros-noetic-rosserial-arduino ros-noetic-rosserial-python ros-noetic-rosserial-server ros-noetic-rosserial-client ros-noetic-rosserial-msgs ros-noetic-amcl ros-noetic-map-server ros-noetic-move-base ros-noetic-urdf ros-noetic-xacro  ros-noetic-compressed-image-transport ros-noetic-rqt-image-view ros-noetic-gmapping ros-noetic-navigation  ros-noetic-interactive-markers rviz

sudo apt update && sudo apt install \
  git wget qtbase5-dev qtchooser qt5-qmake qtbase5-dev-tools \
  python3-rosdep \
  python3-vcstool \
  python3-colcon-common-extensions \
  # maven default-jdk   # Uncomment to install dependencies for message generation

Message Generation

Message generation via FleetMessages.idl is done using dds_idlc from CycloneDDS. For convenience, the generated mesasges and files has been done offline and committed into the code base. They can be found here.

./dds_idlc -allstructs FleetMessages.idl

Build the workspace

cd
cd ME5400_Final
catkin_make

Multi turtlebot Gazebo world

Move ff_ros1_ws folder out

cd ~/ME5400_Final
mv ff_ros1_ws ..

Install all the dependencies through rosdep,

cd ~/ff_ros1_ws
rosdep install --from-paths src --ignore-src --rosdistro noetic -yr

Source ROS 1 and build (Run colcon build twice if you had error output for the first time),

cd ~/ff_ros1_ws
source /opt/ros/noetic/setup.bash
colcon build
colcon build

Examples

Please remember to source first!!!

source ~/ME5400_Final/devel/setup.bash
source ~/ff_ros1_ws/install/setup.bash
export PYTHONPATH=~/pysot:$PYTHONPATH

Multi turtlebot Tracking Stimulation

The default turtlebot3 model is set as waffle

export TURTLEBOT3_MODEL=waffle

Launch the Gazebo World:

# Navigate with pre-build map
roslaunch ff_examples_ros1 multi_turtlebot3_ff.launch

# Navigate without pre-build map
roslaunch ff_examples_ros1 multi_nomap.launch 

Run the Tracking Node:

rosrun tracking tracking.py

Run the Following scripts:

source ~/ME5400_Final/devel/setup.bash
cd ~/ME5400_Final/following

# Following use pure cmd_vel control
python3 Cmdvel_following.py

# Following using move_base
python3 movebase_following.py

Running on ROS WHILL

Setup the ROS_WHILL drive accroding to ros_whill_arc. Setup RealSense D435i drive. Help.

Launch ROS WHILL

roslaunch ros_whill ros_whill.launch

Launch RealSense

roslaunch realsense2_camera rs_camera.launch

Run the Tracking Node with RealSense

rosrun tracking tracking_realsense.py

Run the Following scripts:

cd ~/ME5400_Final/following

# Following use pure cmd_vel control
python3 Cmdvel_following.py

# Following using move_base
python3 movebase_following.py