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Anti-instagram (Lane following)

Modified 2018-06-25 by Andrea Censi

This is the description of anti-instagram demo.

Camera calibration completed. Camera calibration

Lane-following demo has been successfully launched. Lane-following demo

Duckietown setup notes

Modified 2018-06-22 by Andrea Censi

A duckietown with white and red solid lines, yellow dashed lines and black lane surface. No obstacles on the lane.

Duckiebot setup notes

Modified 2018-06-22 by Andrea Censi

Any duckiebot satisfying the basic DB17 configuration will work.

Demo instructions

Modified 2018-06-22 by Andrea Censi

Step 0: On duckiebot, change to /$DUCKIETOWN_ROOT/ directory and checkout the lastest version of devel-anti-instagram branch.

Step 1: Run command:

duckiebot $ source environment.sh & &  source set_ros_master.sh & & source set_vehicle_name.sh

duckiebot $ roslaunch duckietown_demos lane_following.launch

Wait a while so that everything has been launched.

If you accidentally press R1 which starts autonomous lane following, press L1 to switch back to joystick control.

Step 2: On laptop, change to /$DUCKIETOWN_ROOT/ directory and perform the following steps:

laptop $ source environment.sh

laptop $ export ROS_MASTER_URI=http://robot_name.local:11311/

laptop $ rqt_image_view

which opens a window to preview image messages. Select the /robot name/camera_node/image/compressed to view camera image stream. Place the duckiebot somewhere in duckietown.

Step 3:

Run command:

rosparam set /robot name/line_detector_node/verbose true

so that line_detector_node will publish the result.

Step 4:

To view the result, select in rqt_image_view the topic /robot name/line_detector_node/image_with_lines. The anti-instagram node is continually running and will determine a proper transformation.

This can be seen as well with the following topics: combination of ~corrected_image and ~uncorrected_image (shows the raw correction) ~geomImage (shows the preprocessed image with the mask)


Modified 2018-06-22 by Andrea Censi

Contact David Yunis - TTIC, Shengjie Lin - TTIC, Milan Schilling - ETHZ or Christoph Zuidema - ETHZ via Slack if any trouble occurs.

Because of mathjax bug

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