= Self Driving Vehicular Project =
**Team:** Michelle Gutwein and Christopher Lee [[BR]]
**Advisors:** Ivan Seskar and Jennifer Shane[[BR]]
**Project Description & Goals:**[[BR]]
Build and train miniature autonomous cars to drive in a miniature city.[[BR]]
**Technologies:** ROS (Robot Operating System), Pytorch
----
== Week 1
Read through the [https://docs.google.com/document/d/1KWIyvGMnB2nboosv068qp-X2BbNm9y4tUnWLzKbz6bI/edit?tab=t.0#heading=h.gz0otq9rwrdy manual] provided to us.  [[BR]]
\\
[https://docs.google.com/presentation/d/1ZJatipqqiaRQ06gbw_t5Jbho-dZOFxXZS6fXx_FxIIc/edit?slide=id.p#slide=id.p Week 1 slides]//

== Week 2
Learned what ROS is and how to use it[[BR]]
Also got to know the car, RASCAL[[BR]]
\\
[https://docs.google.com/presentation/d/1VsER6V9A0wsgOowDd7vA26k3LNe6V8tMvsMXYWiOBVo/edit?slide=id.p#slide=id.p Week 2 slides]//

== Week 3
Read through all of the code in the [https://gitlab.orbit-lab.org/self-driving-car-2023/upcar/-/tree/main/catkin_ws/src/rascal/src?ref_type=heads Gitlab]
[[BR]]
Learned how to record and edit data on the web display[[BR]]
\\
[https://docs.google.com/presentation/d/1NL-Xl_2XD7dQo6XJMo8_wsapmv6N-sxQl58-IZ-0_L0/edit?slide=id.p#slide=id.p 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**[[BR]]
2. Connect to the network: rascalstonesdc's 1st network **(ID: d3ecf5726d1a9fcd)**[[BR]]
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[[BR]]**
4. Next, run the command: **roslaunch rascal pure_pursuit.launch** to launch all the nodes[[BR]]
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[[BR]]

== Collecting Data 
To record data:[[BR]]
1. Press **bagrecorder/enable** on the web display to start recording [[BR]]
2. Use the joystick or keys on the keyboard (wasd) to move the car around[[BR]]
3. Press **bagrecorder** again to stop recording [[BR]]
4. Open data **opt/upcar/dataProcessing** in the terminal to access all recorded sessions[[BR]]
5. Select the number that you want to download (should be the most recent one)[[BR]]
6. After it finishes downloading you can type the command: **roslaunch rascal sim.launch** which will upload that session to the web display[[BR]]
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)[[BR]]
8. You can now edit the data that will be used for training[[BR]]