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Self Driving Vehicular Project
Self Driving Vehicular Project
WINLAB Summer Internship 2023
Group Members: Adarsh Narayanan, Brandon Cheng, Christopher Sawicki, Joshua Menezes, Ruben Alias, Tommy Chu, Aleicia Zhu, Ranvith Adulla
Project Objective
This project has several objectives involving the WINLAB miniature intersection.
| RASCAL (Robotic Autonomous Scale Car for Adaptive Learning) | MIMIC (Miniature Intersection Motion Imitation Car) |
|---|---|
| Continue work on the miniature autonomous car hardware project developed last summer (see the project page here: https://www.orbit-lab.org/wiki/Other/Summer/2022/Hardware). The goal for this summer is to finish prototyping the hardware and develop drivers to control the car with ROS. If time allows, once the ROS integration is complete, we will be able to develop and test machine learning models to control the car. | Develop a remote-controllable car which can be used to mimic the path taken by a car in the real intersection. For this platform, mechanum wheels will be used to allow for real-time corrections to the path. The platform will be developed using Robot Operating System (ROS). Students will need to prototype hardware and develop software to extract the path from video of the real intersection, translate that into a path for the miniature intersection, and produce a set of commands for the car. |
Week 1
Week 2
Week 3
Week 4
Week 5
Week 6
[ Week 6 Slides]
Week 7
[ Week 7 Slides]
Week 8
[ Week 8 Slides]
Week 9
[ Week 9 Slides]
Week 10
[ Week 10 Slides]
Project Setup Instructions
VM setup instructions:
- Download virtualbox https://www.virtualbox.org/wiki/Downloads
- Download ubuntu https://releases.ubuntu.com/focal/
- Follow a guide to install ubuntu on Virtualbox: https://www.wikihow.com/Install-Ubuntu-on-VirtualBox
- If you are on mac, MAKE SURE you start Virtualbox by typing "sudo virtualbox" in the commandline, instead of starting it normally. This is the only workaround I could find to get controller input to work in virtualbox!
- If you are using Ubuntu 22.04, then there is a bug when using it with VirtualBox where you can't open the terminal by default. You need to update the locale of the machine for some reason. Follow this link to get into terminal mode: https://superuser.com/questions/100693/how-to-switch-to-non-graphical-view-in-ubuntu
- Then follow this to update the locale: https://askubuntu.com/questions/1435918/terminal-not-opening-on-ubuntu-22-04-on-virtual-box-7-0-0
- Restart the VM (power it off and on in VirtualBox) and now you should be able to open the terminal in Graphical mode
- You will need to have Sudo access on your account in Ubuntu. Follow this StackOverflow: https://askubuntu.com/questions/124166/how-do-i-add-myself-into-the-sudoers-group
ROS setup instructions:
- Follow these instructions to set up ROS Noetic: http://wiki.ros.org/noetic/Installation/Ubuntu
- Note: any time you edit a startup file, like .bashrc, you need to logout and login (on VM you might need to power it off and on) for the effects to take place.
Project instructions:
- Clone the desired
Other Notes:
- The user needs to have input permission for ROS to read data from joystick inputs. To set this, do "sudo usermod -aG input username". -aG specifies adding an additional group (input) to a user (username)
- Changing groups requires the user to log out and in for effects to take place
- For MIMIC, which was built on ROS Melodic, any python files need to be marked as executable. To do this, run "sudo chmod +x path/to/file.py". This adds execute permission (+x) to the file.
Note:
See TracWiki
for help on using the wiki.
