towardsautonomy/JetPilot

Autonomous Driving Software Stack based on JetRacer Platform

JetPilot: Autonomous Driving Software Stack based on JetRacer Platform

Get Started

Build JetPilot

git clone https://github.com/towardsautonomy/JetPilot.git --recursive
cd JetPilot/ros2
source ~/ros2_dashing/install/setup.bash
colcon build

Launch JetPilot

cd JetPilot/ros2
source install/setup.bash
ros2 launch jet_drive jet_pilot.launch.py

Launch JetPilot on startup

chmod +x scripts/jetpilot_startup.sh
sudo cp scripts/jetpilot_startup.service /etc/systemd/system/ 
sudo systemctl enable jetpilot_startup
sudo systemctl start jetpilot_startup

Modules and Individual Packages

1. Camera: IMX219-160 Camera

   • More Details: https://www.waveshare.com/wiki/IMX219-160_Camera
   • Running this node: ros2 launch front_cam front_cam_node.launch.py
   • This node publishes the msg sensor_msgs/Image on topic /front_cam/rgb

2. RPLIDAR A2

   • ros2 package being used for this device is a modified version of this
   • This device needs access to /dev/ttyUSB0. This can be done by adding the user to the group dialout.
     sudo adduser jetson dialout followed by a reboot.
   • Running this node: ros2 run rplidar_ros rplidarNode.
   • This node publishes the msg sensor_msgs/LidarScan on topic /scan

3. Gamepad

   • This is used for sending commands to the JetRacer.
   • Controls:

     Select      : Toggles auto-driving on/off
     Start       : Toggles manual-driving on/off
     Left Stick  : Up/Down for +ve/-ve Acceleration
                   Left/Right for Left/Right Steering
     Right Stick : Left/Right for Left/Right Steering
     

   • Running this node: ros2 launch joystick joystick_node.launch.py

4. IMU - Adafruit BNO055

   • This module uses the Adafruit_Python_Extended_Bus library which needs to be installed separately.
     
   • Connected to Jetson Nano I2C ports:
     • BNO055 vin -> nano 3.3V
     • BNO055 GND -> nano GND
     • BNO055 SDA -> nano SDA2
     • BNO055 SCL -> nano SDL2
   • Running this node: ros2 launch imu_bno055 imu_bno055_node.launch.py

5. Jet Drive Moderator

   • This is responsible for moderating the steering and throttle commands sent to the JetRacer.
   • Running this node: ros2 launch jet_drive_moderator jet_drive_moderator_node.launch.py

6. Jet Drive

   • This module is responsible for applying steering and throttle to the JetRacer.
   • Running this node: ros2 launch jet_drive jet_drive_node.launch.py
   • For other sensor frames to base link transforms, run: ros2 launch jet_drive frame_transforms.launch.py
   • Launch the complete stack: ros2 launch jet_drive jet_pilot.launch.py
   • Sometimes rviz2 complains about no tf2 data if monitoring from a remote machine. Provide transforms locally by running:

     ros2 run tf2_ros static_transform_publisher 0.0 0.0 0.1 1.57 0.0 0.0, base_link imu_link &
     ros2 run tf2_ros static_transform_publisher 0.0 0.0 0.15 1.57 3.14 3.14, base_link laser_link &
     ros2 run tf2_ros static_transform_publisher 0.0 0.0 0.0 0.0 0.0 0.0, laser_frame laser_link &
     ros2 run tf2_ros static_transform_publisher 0.0 0.2 0.12 0.0 0.0 -1.8318, base_link camera_link &
     

Teleoperation without ROS2 dependency

For teleoperation using Gamepad, run the script scripts/teleoperation.py. This can also be setup to run at startup as:

sudo cp scripts/teleoperation_startup.service /etc/systemd/system/ 
sudo systemctl enable teleoperation_startup
sudo systemctl start teleoperation_startup