Puyuma-core

Core components of self-driving car system, building a complete open source solution for low-cost hardware along with Linux real-time extensions.

Demo videos

Licensing

puyuma-core is freely redistributable under the two-clause BSD License. Use of this source code is governed by a BSD-style license that can be found in the LICENSE file.

Installation

Connecting to your raspberry pi using ssh then follow the instructions.

0.Install dependency

Install ROS kinetic ,or indigo from http://wiki.ros.org/kinetic/Installation/Ubuntu

sudo apt install libncurses5-dev libopencv-dev ros-$(ROS_DISTRO)-cv-bridge ros-$(ROS_DISTRO)-camera-calibration

1.Raspicam

git clone https://github.com/Puyuma/raspicam.git
cd raspicam/
mkdir build
cd build
cmake ..
sudo make install

2.WiringPi

git clone https://github.com/Puyuma/WiringPi.git
cd WiringPi
./build

3.Apriltags_cpp

cd $(YOUR_CATKIN_WS)/src
git clone https://github.com/Puyuma/apriltags.git
cd $(YOUR_CATKIN_WS)
catkin_make

4.Puyuma

cd $(YOUR_CATKIN_WS)/src
git clone https://github.com/Puyuma/puyuma-core.git
cd $(YOUR_CATKIN_WS)
catkin_make

Enable rpi-camera

• Raspberrypi offical website documents

Calibration

You must do the calibration before first time initiating the controller.

1. Intrinsic calibration

#Terminal A
rosrun xenobot intrinsic_calibration

#Terminal B
rosrun camera_calibration cameracalibrator.py --size 8x6 --square 0.031 image:=/xenobot/raw_image --no-service-check

2. Extrinsic calibration

roslaunch xenobot extrinsic_calibration.launch veh:=machine_name

3. Color detector calibration

pi$ roslaunch xenobot activate_controller.launch veh:=machine_name cal:=true

pc$ rosrun xenobot color_threshold_calibration _color:=[ 1 | 2 | 3 ]

//[1: yellow | 2: white | 3: both]

• inner == yellow
• outer == white

4. Setup .bashrc

Add:

. /opt/ros/kinetic/setup.bash
. $(YOUR_CATKIN_WS)/devel/setup.bash
export ROS_IP=`hostname -I`
alias play="roslaunch xenobot activate_controller.launch veh:=VEHICLE_NAME calibrate:=true"
alias stop=". ~/catkin_ws/src/xenobot/halt_motor.sh"

Activating the controller

roslaunch xenobot activate_controller.launch veh:=VEHICLE_NAME calibrate:=true
# or simply
play

Analysing

Scatter plot

rosrun xenobot scatter_view_node.py

GDB

1. Use ps command find the process ID

ps aux

2. Enter GDB or CGDB

cgdb

3. Attatch the process

attach **PROCESS_ID**

Trobleshooting

Authentication to remote computer[ubuntu@192.168.0.102:22] failed. A common cause of this error is a missing key in your authorized_keys file.

Using ssh-copy-id could solve the problem:

ssh-copy-id xenbot_user@xenobot_address