Self Driving Vehicular Project

Team: Michelle Gutwein and Christopher Lee
Advisors: Ivan Seskar and Jennifer Shane
Project Description & Goals:
Build and train miniature autonomous cars to drive in a miniature city.
Technologies: ROS (Robot Operating System), Pytorch

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Week 1

Read through the ​manual provided to us.

​Week 1 slides

Week 2

Learned what ROS is and how to use it
Also got to know the car, RASCAL

​Week 2 slides

Week 3

Read through all of the code in the ​Gitlab
Learned how to record and edit data on the web display

​Week 3 slides

Connecting to RASCAL

First connect to Zerotier if you're using a personal computer. (If you are not using a personal computer, then plug the car directly into a monitor to access the car).

1. Sign into Zerotier under the account rascalstonesdc-at-gmail.com password: si2022sdc
   
2. Connect to the network: rascalstonesdc's 1st network (ID: d3ecf5726d1a9fcd)
   
3. Now you can open a terminal and connect to the IP address of the RASCAL using the command: ssh rascal@10.244.114.238
   
4. Next, run the command: roslaunch rascal pure_pursuit.launch to launch all the nodes
   
5. In a web page type 10.244.114.238:5000 to open the web display where you can record and edit data for training
   

Collecting Data

To record data:

1. Press bagrecorder/enable on the web display to start recording
   
2. Use the joystick or keys on the keyboard (wasd) to move the car around
   
3. Press bagrecorder again to stop recording
   
4. Open data opt/upcar/dataProcessing in the terminal to access all recorded sessions
   
5. Select the number that you want to download (should be the most recent one)
   
6. After it finishes downloading you can type the command: roslaunch rascal sim.launch which will upload that session to the web display
   
7. In the web display you can play the video to see what the camera recorded (you might need to refresh the page to see the session come up)
   
8. You can now edit the data that will be used for training