This repository contains code for a self-driving smallscale truck with wireless inductive charging. It is part of a master thesis in cybernetics and robotics at NTNU 2019, and contains code for three different path following methods:
- SLAM with Pure Pursuit (and Stanley steering) steering controller
- Supervised Deep Learning steering controller with OpenCV
- Lane Detector with steering controller (PID) and OpenCV
The system is based on Ubuntu 16.04 with ROS Kinetic running on a Nvidia Jetson TX2. The truck itself is controlled by a Teensy 3.2 microcontroller. Other components used are the RPlidar A8M8 lidar and the Logitech C922 webcam.
To start the autonomous system, type:
$ roslaunch car_cmd run.launch
Folder | Functionality |
---|---|
Teensy | Contains the code for the Teensy microcontroller |
ackermann_odom | Estimates odometry for Ackermann vehicle with IMU |
aruco_detector | For detecting ArUco markers with camera, also contains generator |
can_charger_node | ROS CAN bus interface for Jetson TX2 |
car_cmd | Central node for publishing car commands to microcontroller |
car_gui | Graphical User Interface for status overviews |
car_setup_tf | TF broadcaster (base_link to laser) |
cv_lanetracker | OpenCV Lane Detector for center offset measure |
dnn_simulator | Deep Learning controller for Udacity Simulator, with trainer |
dnn_steering_node | Deep Learning steering controller, also contains trainer and data logger |
esc_vel_pub | Estimates velocity from controller command (sensorless) |
heartbeat_broadcaster | Publishes alive msgs to microcontroller |
path_trackers | Pure Pursuit and Stanley steering controllers |
rosbag_resampler | Script for resampling a rosbag that has topics publishing at different sample rates |
rplidar_pwm_ros | Modified RPlidar ROS node with PWM motor control (https://github.com/davidbsp/rplidar_ros) |
waypoint_logger | ROS node for recording a new path |
Name | Link |
---|---|
ROS Kinetic | https://www.ros.org/ |
Hector SLAM | http://wiki.ros.org/hector_slam |
Joy | http://wiki.ros.org/joy |
ROS Serial | http://wiki.ros.org/rosserial |
Udacity Self-Driving Car Simulator (Term 1, v2) | https://github.com/udacity/self-driving-car-sim |
A modified version of Hector SLAM is attached as a zip.