#Duckiebus #- repo originally from Algorithmic Robotics #

ALWAYS git pull first!

terminal command to push local workspace to the repository: git add src/ README.md git commit -m "commit message

git will say the following is untracked. Ignore. build/ devel/

then: git push

Common code for class. Currently many of the packages are from the duckietown/Software github repository or built off of said packages.

Contents

• ar_tags/
  • src/tag_detector_node.py - publishes AR tag detections (IDs, relative positions)
• dagu_car/
  • launch/dagu_car.launch - starts the dagu_car nodes and remaps topics
  • script/drive_straight_test.py - run this to test the wheel calibration
  • src/kinematics_node.py - converts car velocities to wheel speeds
  • src/wheels_driver_node.py - sets wheel speeds based on received commands
• duckietown/
  • config/dagu_car/kinematics/pi.yaml - wheel calibration
  • config/ground_projection/pi.yaml - extrinsic camera calibration
  • config/pi_camera/pi.yaml - intrinsic camera calibration
  • launch/ - launch files that start nodes across multiple packages
• duckietown_msgs/
  • msg/ - message definitions used across duckietown
• ground_projection/
  • scripts/test_projection_auto.py - run this to test extrinsic camera calibration
• intersection_control/
  • config/maneuvers.yaml - open-loop turn descriptions
  • config/map.yaml - graph representation of roads
  • src/stop_line_filter.py - publishes stop-line readings
  • src/supervisor_node.py - manages intersections (and control mode switching)
• keyboard_control/
  • src/keyboard_control_node.py - publishes car velocities based on key presses
• lane_control/
  • src/lane_controller_node.py - publishes car velocities based on lane pose estimates
• lane_filter/
  • src/lane_filter_node.py - publishes lane pose estimates
• localization/
  • config/landmarks.yaml - AR tag IDs and locations
  • src/localization_node.py - estimates car pose based on AR tags and odometry (lab 10)
• pi_camera/
  • launch/camera.launch - starts the camera nodes and remaps topics
  • src/cam_info_node.py - publishes camera calibration info each time an image is received
  • src/camera_node.py - publishes compressed camera images

Environment

• Raspberry Pi 3, Ubuntu Mate 14.04, Python 2.7.12, OpenCV 2.4.9, ROS Kinetic

Team 22: Connor McGowan, Judy Zhang