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Follow Leader

Modified 2018-09-27 by Andrea Censi

This is the description of the follow the leader demo.

Wheels calibration completed. wheel calibration

Camera calibration completed. Camera calibration

Lane following demo works. Lane following demo

Circle grid tags on Duckiebots.

More than one Duckiebot

Video of expected results

Modified 2018-06-22 by Andrea Censi

First, we show a video of the expected behavior (if the demo is successful).

Duckietown setup notes

Modified 2018-06-22 by Andrea Censi

A Duckietown with white and yellow lanes. No obstacles on the lane.

Duckiebot setup notes

Modified 2018-06-22 by Andrea Censi

Make sure the camera is heading ahead. Tighten the screws if necessary. Attach circle grid with tape at the rear. A pdf file with circle grids in the right size (0.0125m between dot centers) can be found in /DUCKIETOWN_ROOT/catkin_ws/src/50-misc-additional-functionality/vehicle_detection/CircleGrid.pdf.

Duckiebot with Circle Grid

Pre-flight checklist

Modified 2018-06-22 by Andrea Censi

Check: Joystick is turned on.

Check: Sufficient battery charge of the Duckiebot.

Demo instructions

Modified 2018-06-22 by Andrea Censi

Step 1: Pull the branch devel-implicit-coord-formationKeeping from the Duckietown repository and run catkin_make.

Place more than one Duckiebot on the outer lanes of Duckietown, such that the Duckiebots drive an circle around Duckietown with lane following. The distance between the Duckiebots should be more than 0.5m to start the demo successfully.

Run the following commands on different Duckiebots at the same time.

Step 1: On Duckiebot, in /DUCKIETOWN_ROOT/ directory, checkout the branch devel-implicit-coord-formationKeeping and run the following commands:

duckiebot $ catkin_make -C catkin_ws/

duckiebot $ make demo-vehicle_follow_leader

Wait a while so that everything has been launched. Press R2 to start autonomous lane following with vehicle avoidance. Press L1 to switch to joystick control or R1 to switch to lane following without vehicle avoidance. In autonomous lane following mode with vehicle avoidance the Duckiebot is keeping a distance to another Duckiebot on front of him.

Step 2: On laptop, make sure ros environment has been activated.

laptop $ rqt_image_view

In rqt_image_view the images with circle grid are visualized: /(vehicle_name)/vehicle_detection_node/circlepattern_image.

If the circle grid is detected, the grid is drawn in the image.


Modified 2018-06-22 by Andrea Censi

Add here any troubleshooting / tips and tricks required.

Demo failure demonstration

Modified 2018-06-22 by Andrea Censi

Finally, put here a video of how the demo can fail, when the assumptions are not respected.

Because of mathjax bug

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