IRONCAR

Run it !

Launch the python script which will run the car:

$ python3 simple_command.py

This script allows for a few optionnal parameters. The full syntax is :

$ python3 simple_command.py [-h] [--resolution RESOLUTION RESOLUTION]
                         [--model-path PATH] [--speed SPEED] [--preview]
                         [--regression] [--log-level LOGLEVEL]

where :

-h: prints the help message
--resolution / -r: the resolution (width height) of the camera. You must pass 2 integers after the --resolution option - for example, --resolution 100 50. Default = 240 176
--model-path / -m: absolute path to the Keras model. keras.load_model will be used to load the model, which must comply with this function requirements (if you used keras to save your model, you should be fine). Default = '/home/pi/ironcar/autopilots/octo240x123_nvidia.hdf5'
--speed / -s: the ratio (from 0 to 1) of the max speed to be used. 1 means that the IronCar will be allowed to use the maximum hardware speed (which is very fast, start with a low value such as 0.2) Default = 0.2
--preview / -p: prints a preview of the picamera directly onto the terminal. Neat, but you probably don't want that in production.
--regression / -R: assume a regression model (default is classification)
--log-level / -l: the log level used (from CRITICAL to DEBUG). Default = INFO

Hardware setup

You will find a tutorial on google docs here .

Raspberry-pi Setup

Easy setup with install.sh

You can easily setup everything on the raspi using the install.sh bash. To do so, go on your raspi and do:

$ ./install.sh

It will install keras, tensorflow, nodejs and some other dependencies in the requirements. This should take 2-3 hours... (scipy is very long to install). At the end of the install, you will need to choose if you want to enable the pi camera, i2c connections and augment the swap size (which is very small by default). And that's it, you should be ready to go to the launching part!!

Manual setup

You can install the requirements from requirements_raspi.txt yourself, but you will need to install tensorflow as well as nodejs and npm. You will also need to install the node packages from package.json. Last you will need to configure your camera and any other device to be enabled on the raspi.

Laptop Setup

You need to install the requirements_laptop.txt on your laptop only if you want to train your car with a gamepad and with the controller.py script. You can do it like this:

$ pip3 install requirements_laptop.txt

Otherwize, there is nothing needed for this part on the laptop, you will only use your browser to connect to the raspi via a node client.