All of the videos are in the videos folder.
The code is in e1.py. There are no dependency other than basic packages. The commands to run the program are as below.
Open the 1st terminal.
source devel/setup.bash
roslaunch basic_launch dbw_joystick
Open the 2nd terminal.
source devel/setup.bash
python e1.py
The code is in e2.py. There is 2 dependencies called gnss_sensor and yolo3. The commands to run the program are as below.
Open the 1st terminal.
source devel/setup.bash
roslaunch basic_launch dbw_joystick
Open the 2nd terminal.
source devel/setup.bash
roslaunch basic_launch gnss_sensor_init.launch
Open the 3rd terminal.
source devel/setup.bash
python e2.py
There are no codes for exercise 3. There is 2 dependencies called rosbag and hector_slam. The steps to do step 3 are as below.
Get into the vechile and enter the workspace of the computer. Run the command below.
Open the 1st terminal.
source devel/setup.bash
roslaunch basic_launch dbw_joystick
Open the 2nd terminal. (exercise3.bag is also attached in the folder)
source devel/setup.bash
rosbag record -a -O exercise3.bag
Open the 1st terminal.
source devel/setup.bash
roslaunch hector_slam_launch tutorial.launch
Open the 2nd terminal. (Our recorded exercise3.bag is also attached in the folder)
source devel/setup.bash
rosbag play exercise3.bag /lidar1/scan:=/scan -- clock
The codes are in gem_gnss/scripts/gem_gnss_pp_tracker_pid.py. There is 1 dependency called gnss_sensor. There are 2 steps to do the exercise 4.
Get into the vechile and enter the workspace of the computer. Run the command below.
Open the 1st terminal.
source devel/setup.bash
roslaunch basic_launch dbw_joystick
Open the 2nd terminal.
source devel/setup.bash
roslaunch basic_launch gnss_sensor_init.launch
Open the 3rd terminal and let the safty driver drive the vechicle in a figure 8 path.
source devel/setup.bash
python ./gem_gnss/scripts/gem_gnss_pp_tracker_pid.py
Open the 1st terminal.
source devel/setup.bash
roslaunch basic_launch dbw_joystick
Open the 2nd terminal.
source devel/setup.bash
roslaunch basic_launch gnss_sensor_init.launch
Open the 3rd terminal and let the computer controls the vechicle.
source devel/setup.bash
python ./gem_gnss/scripts/gem_gnss_pp_tracker_pid.py