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Indefinite Navigation

Modified 2018-06-24 by Andrea Censi

This is the description of the indefinite navigation demo.

Wheels calibration completed.wheel calibration

Camera calibration completed.Camera calibration

Joystick demo has been successfully launched.Joystick demo)

Fully set up Duckietown (including April tags for intersections)

A motor gain of approximately 0.65 (strong influence in open-loop intersections)

Video of expected results

Modified 2018-06-24 by Andrea Censi

The video is at https://vimeo.com/247596730.

Demo: indefinite navigation

TODO: add a different video with an up to specification Duckietown.

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for:Jacopo Tanitask

The following was marked as "todo".

TODO: add a different video with an up to specification Duckietown.

File book/opmanual_duckiebot/atoms_17_setup_duckiebot_DB17-jwd/30_demos/11_indefinite_navigation.md.

File book/opmanual_duckiebot/atoms_17_setup_duckiebot_DB17-jwd/30_demos/11_indefinite_navigation.md
in repo duckietown/docs-opmanual_duckiebot branch master commit 44c6f610
last modified by Andrea Censi on 2018-06-24 20:45:23

Created by function make in module compmake.jobs.actions.

Duckietown setup notes

Modified 2018-06-22 by Andrea Censi

A Duckietown with white and yellow lanes. No obstacles on the lane. Red stop lines at intersections. If several Duckiebots are present while running this demo, LEDs need to be installed for explicit communication and coordination of Duckiebots at intersections.

Duckiebot setup notes

Modified 2018-06-22 by Andrea Censi

Make sure the camera is securely tightened and properly calibrated.

Pre-flight checklist

Modified 2018-06-22 by Andrea Censi

Check: Joystick is turned on.

Check: Sufficient battery charge of the Duckiebot.

Check: Gain is set to approximately 0.65.

Demo instructions

Modified 2018-06-24 by Andrea Censi

Follow these steps to run the indefinite navigation demo on your Duckiebot:

Step 1: On the Duckiebot, navigate to the /DUCKIETOWN_ROOT/ directory, run the command:

duckiebot $ make indefinite-navigation

Wait until everything has been launched. Press X to start anti-instagram. Pressing R1 will start the autonomous lane following and L1 can be used to revert back to manual control.

In the current open-loop intersection navigation, no Duckiebot will successfully run the demo the first time. Parameter tuning is a must. The only two parameters that should be adjusted are the gain and trim, previously defined during the wheel calibration procedure.

The parameter pair which makes your bot go straight will unlikely work for the lane following due to the current controller design. Start with your parameter pair obtained from wheel calibration. If your Duckiebot stays too long on a curve during crossing an intersection, decrease your gain in steps of 0.05. If the Duckiebot doesn’t make the turn enough long, increase your gain in steps of 0.05.

Command to modify your gain (in this example to 0.65):

$ rosservice call /robot name/inverse_kinematics_node/set_gain -- 0.65
question

on laptop or bot?

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on laptop or bot?

File book/opmanual_duckiebot/atoms_17_setup_duckiebot_DB17-jwd/30_demos/11_indefinite_navigation.md.

File book/opmanual_duckiebot/atoms_17_setup_duckiebot_DB17-jwd/30_demos/11_indefinite_navigation.md
in repo duckietown/docs-opmanual_duckiebot branch master commit 44c6f610
last modified by Andrea Censi on 2018-06-24 20:45:23

Created by function make in module compmake.jobs.actions.
previous task next (23 of 34) index
for:Jacopo Tanitask

The following was marked as "question".

question

on laptop or bot?

File book/opmanual_duckiebot/atoms_17_setup_duckiebot_DB17-jwd/30_demos/11_indefinite_navigation.md.

File book/opmanual_duckiebot/atoms_17_setup_duckiebot_DB17-jwd/30_demos/11_indefinite_navigation.md
in repo duckietown/docs-opmanual_duckiebot branch master commit 44c6f610
last modified by Andrea Censi on 2018-06-24 20:45:23

Created by function make in module compmake.jobs.actions.

Everything below is helpful for debugging if your robot does not follow the lane at all.

Step 2: Navigate to the Duckietown folder:

laptop $ cd ~/duckietown

then source the environment:

laptop $ source environment.sh

set the the ROS master to your vehicle:

laptop $ source set_ros_master.sh robot name

and finally launch rviz:

laptop $ rviz

In rviz, two markerarrays:

  • /robot name/duckiebot_visualizer/segment_list_markers, and
  • /robot name/lane_pose_visualizer_node/lane_pose_markers

can be visualized. The green arrow representing the pose estimate of the robot has to be in a reasonable direction.

Step 3: Always on the laptop, run:

laptop $ rqt

In rqt, the images can be visualized are:

  • /robot name/camera_node/image/compressed,
  • /robot name/line_detector_node/image_with_lines,
  • /robot name/lane_filter_node/belief_img.

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