Instructions to reproduce results

1. Clone this repository and go to its directory

git clone https://github.com/splionar/cra1.git
cd cra1

2. Build docker image in Duckiebot

dts devel build -f --arch arm32v7 -H [ROBOT_NAME].local

3. Run docker image in Duckiebot with the following options

docker -H [ROBOT_NAME].local run -it -e MAP_FILE=[MAP_FILENAME] -v /data/config/calibrations/:/code/catkin_ws/src/cra1/calibrations/ --rm --net=host --privileged duckietown/cra1:v1-arm32v7

Choice of MAP_FILENAME: [hud, calibration_pattern, lane, intersection_4way]. Default is set to lane.

Credit

Credit to afdaniele for the image projection pipeline (https://github.com/duckietown/dt-core/blob/6285293fb05351a23dc936a3dd70d42e61bca379/packages/ground_projection/include/ground_projection/GroundProjection.py)