activated
Duckietown
Home
build details

Show: section status errors & todos local changes recent changes last change in-page changes feedback controls

Implicit Coordination

Modified 2018-06-24 by Andrea Censi

This demo allows multiple Duckiebots that stop at an intersection to coordinate themself without explicit communication and clear the intersection.

Duckiebot in configuration DB-wj

Camera calibration completed. camera calibration

Wheel calibration completed. wheel calibration

Object Detection setup.

Video of expected results

Modified 2018-06-22 by Andrea Censi

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

TODO: add video

previous task next (25 of 33) index
for:Jacopo Tanitask

The following was marked as "todo".

TODO: add video

File docs/docs-opmanual_duckiebot/book/opmanual_duckiebot/atoms_17_setup_duckiebot_DB17-jwd/30_demos/13_implicit_coordination.md.

File book/opmanual_duckiebot/atoms_17_setup_duckiebot_DB17-jwd/30_demos/13_implicit_coordination.md
in repo duckietown/docs-opmanual_duckiebot branch master commit ddcc1011
last modified by Andrea Censi on 2018-06-24 18:53:48

Created by function create_notes_from_elements in module mcdp_docs.task_markers.

Duckietown setup notes

Modified 2018-06-22 by Andrea Censi

The Duckietown used for this demo has to be equipped with…

  • at least one intersection.
  • april tags providing information about the intersection type.

Duckiebot setup notes

Modified 2018-06-22 by Andrea Censi

No special setup is needed for the Duckiebot.

Laptop setup notes

Modified 2018-06-22 by Andrea Censi

Tensorflow needs to be installed:

Installing Tensorflow on Ubuntu

Inference model needs to be added:

Move to correct folder:

laptop $ cd ~/duckietown/catkin_ws/src/80-deep-learning/object_detection/models

Download model from here and place in the folder

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

Everything should be run from branch ‘devel-implicit-coordination-intersection’, don’t forget to build again.

Step 1: Place the participating Duckiebots on the ways to the same intersection with enough distance to recognize stop lines.

Step 2: Run the following commands on the Duckiebots:

Make sure you are in the Duckietown folder:

duckiebot $ cd ~/Duckietown

Run the demo:

duckiebot $ make demo-implicit_coordination

Step 3: Run the following commands on the laptop:

Make sure you are in the Duckietown folder:

laptop $ cd ~/Duckietown

Set up the environment:

laptop $ source environment.sh

Set your duckiebot as the ROS master:

laptop $ source set_ros_master.sh robot name

Run multivehicle detection:

laptop $ roslaunch duckietown multivehicle_detection.launch veh:=robot name

Step 4: Press R1 on your connected gamepad. The duckiebots now perform lane following until they stop at the intersection, where they coordinate themself and clear the intersection.

Troubleshooting

Modified 2018-06-22 by Andrea Censi

TODO: add troubleshooting

previous task next (26 of 33) index
for:Jacopo Tanitask

The following was marked as "todo".

TODO: add troubleshooting

File docs/docs-opmanual_duckiebot/book/opmanual_duckiebot/atoms_17_setup_duckiebot_DB17-jwd/30_demos/13_implicit_coordination.md.

File book/opmanual_duckiebot/atoms_17_setup_duckiebot_DB17-jwd/30_demos/13_implicit_coordination.md
in repo duckietown/docs-opmanual_duckiebot branch master commit ddcc1011
last modified by Andrea Censi on 2018-06-24 18:53:48

Created by function create_notes_from_elements in module mcdp_docs.task_markers.

Demo failure demonstration

Modified 2018-06-22 by Andrea Censi

TODO: coming soon

previous task next (27 of 33) index
for:Jacopo Tanitask

The following was marked as "todo".

TODO: coming soon

File docs/docs-opmanual_duckiebot/book/opmanual_duckiebot/atoms_17_setup_duckiebot_DB17-jwd/30_demos/13_implicit_coordination.md.

File book/opmanual_duckiebot/atoms_17_setup_duckiebot_DB17-jwd/30_demos/13_implicit_coordination.md
in repo duckietown/docs-opmanual_duckiebot branch master commit ddcc1011
last modified by Andrea Censi on 2018-06-24 18:53:48

Created by function create_notes_from_elements in module mcdp_docs.task_markers.
Because of mathjax bug

No questions found. You can ask a question on the website.