[[TOC(Other/Summer/2022/RC/*, depth=1, heading=Car Robot Remote Control)]]

= Remote Control Robot Car =
**WINLAB Summer Internship 2022**

**Group Members:** Jimmy Huang, John Greaney-Cheng

== Project Website ==

[https://rcrobotcar.wixsite.com/my-site Remote Control Robot Car Website]

== Project Objective ==

Remote control of a robotics platform using video streams. The project will require students to work with video streaming toolkits and develop software to allow for low-latency control of the remote platform from either a first- or third-person view. Students will begin by setting up ROS on a robotics platform at Winlab so that they have a system to work on, with the ultimate goal of testing the remote control system on the hardware developed by the smart car team at the end of the summer. 

Students will need to write a ROS node to run on the vehicle platform which will receive remote control commands and translate them into control signals for the platform hardware. Students will also need to work with software such as gstreamer for low-latency streaming of the video feed from the car. 


== Week 1 Update ==
[https://docs.google.com/presentation/d/1jqdMVUKXnpqonbCwvOj06do8Na91bKsLSGQjMEioz-M/edit?usp=sharing Week 1 Presentation]
* Learned how to navigate Linux Command Line and [https://www.orbit-lab.org/wiki/Documentation/CGettingStarted Orbit Management Framework]
* Installed [http://wiki.ros.org/melodic ROS Melodic] on sandbox node and began working through [http://wiki.ros.org/ROS/Tutorials ROS tutorials]
* Met with other groups within the Car Intersection group (Mini Smart Car Hardware Design, Autonomous System Infrastructure, Multi-Cam Fusion for Smart Intersection)
== Week 2 Update ==
[https://docs.google.com/presentation/d/1F579XoMkPlYkoKUMlawQAGBcxs2BYjli5pESKNloOxY/edit?usp=sharing Week 2 Presentation]
* Completed the ROS tutorials; Installed ROS on intersection node and [https://www.generationrobots.com/media/Pioneer3DX-P3DX-RevA.pdf Pioneer 3-DX]
* Completed [http://www2.geog.ucl.ac.uk/~plewis/teaching/unix/vimtutor VIMtutor]
* Installed [https://github.com/IntelRealSense/realsense-ros Real Sense libraries] compatible with ROS
* Solved Pioneer 3-DX networking problem and ssh into it through wireless connection
== Week 3 Update ==
[https://docs.google.com/presentation/d/1-Y3AIKQBLAKDJFsS9BtyICwoNR7dA7AWWcMTxsxeaBM/edit?usp=sharing Week 3 Presentation]
* Successfully remote controlled Pioneer 3-DX
* Installed [http://wiki.ros.org/ROSARIA ROSARIA] and [https://github.com/reedhedges/AriaCoda AriaCoda] to get access to libraries compatible with Pioneer 3-DX
* Installed [https://github.com/pengtang/rosaria_client Demo Client] to control robot
* Streamed video through [https://remotedesktop.google.com/headless/ Chrome Remote Desktop]
== Week 4 Update ==
[https://docs.google.com/presentation/d/1u0RVJY5f0_GpSXRvJn7zu8cQXaFld8ohxXQNIK-1kCg/edit?usp=sharing Week 4 Presentation]
* Built our own client to control robot (Backed it up on [https://gitlab.orbit-lab.org/jimmyh/rosaria_control Gitlab])
* Wrote Open Loop control program to have Pioneer 3-DX move in square repeatedly to test precision of robot
* Recorded data on a [http://wiki.ros.org/Bags bag file], transferred it to a csv file and graphed it