CTU-F1T/pvty_2024_vehicle_detection

F1/10 opponent vehicle detection

F1tenth Opponent Vehicle Detection

Welcome to the F1tenth Opponent Vehicle Detection project wiki. This project was undertaken in the summer term of 2024 at CTU Prague for the project PVTY by a dedicated team to develop and implement methods for detecting opponent vehicles in an autonomous racing platform.

LIDAR Startup

1. Clean and Build the Catkin Workspace:

   catkin clean
   catkin build

2. Source the Setup File:

   source devel/setup.bash

3. Launch the Teleoperation Node:

   roslaunch racecar teleop.launch

4. Launch roscore:

   roscore

5. Launch the camera from the scripts folder:

   ./scripts/start_camera
   

6. Launch main.py in the /src/detection folder:

   • there could be a possibility that the main.py is not working properly, if that happens please use the april_tag_demo.py in the /src/detection/demos folder

   python3 main.py

Additional Resources

• Camera ROS Package: Intel RealSense ROS
• Camera Datasheet: LIDAR Camera L515 Datasheet

Running the Script

Before running the script, set the following environment variable:

export LD_PRELOAD=/usr/lib/aarch64-linux-gnu/libgomp.so.1

For Full Information

Please refer to the Wiki page for full information about the project, including detection methods, experimental results, and future work.