/zer2019

Primary LanguageC++

ZERO 2019 Autonomous Vehicle Project

Installation

$ ./install.sh

Run the code

  • roscore $ roscore

  • GPS

    1. inject the Arduino usb to the usb port

    2. check the port of the usb by typing $ ls /dev/ttyACM*

      If for example, /dev/ttyACM0 appears we have port of /dev/ttyACM0

    3. Start Arduino IDE by typing $ arduino &

    4. Find and open Arduino file gps_and_ros.ino located in ~/catkin_wd/src/zer2019/main_stream/perception/gps/scripts/gps_and_ros.ino

    5. In the upper part, click 'Tools' and select port to /dev/ttyACM0 (in the example)

    6. Click verify and click upload button

    7. If the IDE outputs Sketch uses * bytes.. with no red error message, you are complete!

    8. Run ros node by typing rosrun rosserial_python serial_node.py _port:=/dev/ttyACM0 _baud:=57600 (change port if your's is different)

    9. Check gps message by rostopic echo location_msg

  • Lidar

    $ ./lidar_run.sh

  • Camera

    • Check port number (1 = left_cam, 2 = front_cam, 3 = wide_cam, 4 = right_cam)

    • Set camera

      $ ./main_stream/perception/forward_camera/src/fixcam.sh

    • test

      $ ./cam_test.sh

    • real-time input

      $ ./cam_run.sh