ANI717 Robotics Workspace
Contains ROS2 packages to run robot car to collect annotated camera images while controlled by Gamepad. Also contains packages to run a robot car autonomously with a trained neural network.
Quick Links
Headless Jetbot Setup
Robot Workspace
Simulation Workspace
Computer Vision & Deep Learning Repository
Colaborators
Computer Fusion Laboratory (CFL) - Temple University College of Engineering
- Animesh Bala Ani (Software Development)
- Michael Nghe (Data Collection)
- Dr. Li Bai (Academic Advisor)
Design Diagram
Directory Tree
Robotics Platform
├── Robot Workspace
│ └── src
│ ├── ROS2 Gamepad to Twist Message
│ ├── ROS2 Deep Learning to Twist Message
│ ├── ROS2 Twist Message to Robot Motion
│ ├── ROS2 CSI Camera Publish
│ ├── ROS2 Save Camera Image
│ └── Robot App
└── Simulation Workspace
└── src
├── ROS2 Keyboard to Twist Message
├── ROS2 Deep Learning to Twist Message
├── ROS2 Save Camera Image
├── ROS2 World Simulation
├── ROS2 Robot Simulation
└── Simulation App
Developed ROS2 Packages
Common Packages:
Robot Packages:
Simulation Packages:
Robot Workspace (JetBot)
Download Workspace
git clone https://github.com/ANI717/ANI717_Robotics
Build, Source & Launch Package (Gamepad)
cd ~/ANI717_Robotics/robot_ws/
colcon build --symlink-install && source install/local_setup.bash
ros2 launch robot_app gamepad_launch.py
Build, Source & Launch Package (Self Driving)
cd ~/ANI717_Robotics/robot_ws/
colcon build --symlink-install && source install/local_setup.bash
ros2 launch robot_app autonomous_launch.py
Simulation Workspace (AWS RoboMaker)
Download Workspace
git clone https://github.com/ANI717/ANI717_Robotics
Install ROS2 Dependency
cd ANI717_Robotics/simulation_ws/
sudo apt-get update
rosdep update
rosdep install --from-paths src --ignore-src -r -y
Build, Source & Launch Package (Keyboard)
Terminal 1
cd ANI717_Robotics/simulation_ws/
export DISPLAY=:0
colcon build --symlink-install && source install/local_setup.bash
ros2 launch simulation_app keyboard_launch.py
Terminal 2 (Run following commands and select /image as Image View
export DISPLAY=:0
rqt
Terminal 3
cd ANI717_Robotics/simulation_ws/
source install/local_setup.bash && ros2 run ros2_keyboard_to_twist_message execute
Build, Source & Launch Package (Self Driving)
cd ANI717_Robotics/simulation_ws/
export DISPLAY=:0
colcon build --symlink-install && source install/local_setup.bash
ros2 launch simulation_app autonomous_launch.py