DiRa

DiRa Platform Website - update soon

DiRa Youtube Channel - update soon

Research Pages AutoRally is associated with:

• link - update soon

Contributing

We welcome bug fixes, ehancements, new features, and feedback at: https://github.com/fpt-corp/DiRa/issues or email: [email protected]

Please contact to me before submit pull requests We use Gitflow, so master branch is reserved for releases.

Setup Instructions

Contents

1. Dira Car Platform Instructions - setup, construct, operate and assembley a complete physical Dira platform.
2. [DiRa Car software] - software for DiRa research platform

2.1. [Install Prerequisites](#1-install-prerequisites)

2.2. [Clone repository](#2-clone-or-fork-repositories)

2.3. [Install DiRa ROS Dependencies](#3-install-dira-ros-dependencies)

2.4. [Compilation/Running](#4-compilation-running)

2.5. [Generate Documentation](#5-generate-documentation)

2.6. [Test Setup in Simulation](#6-test-setup-in-simulation)

2.7. [Autonomous Driving in Simulation](#7-autonomous-driving-in-simulation)

2.1. Install Prerequisites

2.1.1 Computer (Desktop/Laptop)

1. Install Ubuntu 16.04 64-bit
2. Install required packages

• sudo apt-get install git doxygen openssh-server libusb-dev texinfo

• sudo apt-get install libfontconfig1-dev libdbus-1-dev libfreetype6-dev libudev-dev libicu-dev libsqlite3-dev libxslt1-dev libssl-dev libasound2-dev libavcodec-dev libavformat-dev libswscale-dev libgles2-mesa-dev libxcb-icccm4-dev libxcb-image0-dev libxcb-keysyms1-dev libxcb-xinerama0-dev libprotobuf-dev libleveldb-dev libsnappy-dev libhdf5-serial-dev protobuf-compiler libopenblas-dev liblapack-dev libopenblas-dev liblapack-dev libgflags-dev libgoogle-glog-dev liblmdb-dev cmake cmake-gui gfortran liblapack-dev libblas-dev libatlas-base-dev libarpack2-dev libarpack++2-dev

• If you code with python you need to install sudo apt install python-rosinstall python-rosinstall-generator python-wstool build-essential

3. Install OpenCV 3.4.3
4. Install ROS kinetic ros-kinetic-desktop-full
5. Install Cuda 9.0 and cuDNN_

• Please follow Guideline

2.1.2 Embedded computer (Jetson TX2)

1. Install ROS kinetic

   git clone https://github.com/jetsonhacks/installROSTX2
   cd installROSTX2
   ./installROS.sh
   ./setupCatkinWorkspace.sh
   

2. Install driver for astra camera

   cd  /etc/udev/rules.d/
   sudo gedit 56-orbbec.rules
   

• Copy the following lines:

   SUBSYSTEM=="usb", ATTR{idProduct}=="0400", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video"
   SUBSYSTEM=="usb", ATTR{idProduct}=="0401", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video"
   SUBSYSTEM=="usb", ATTR{idProduct}=="0402", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video"
   SUBSYSTEM=="usb", ATTR{idProduct}=="0403", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video"
   SUBSYSTEM=="usb", ATTR{idProduct}=="0404", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video"
   SUBSYSTEM=="usb", ATTR{idProduct}=="0405", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video"
   SUBSYSTEM=="usb", ATTR{idProduct}=="0406", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video"
   SUBSYSTEM=="usb", ATTR{idProduct}=="0407", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video"
   SUBSYSTEM=="usb", ATTR{idProduct}=="0408", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video"
   SUBSYSTEM=="usb", ATTR{idProduct}=="0409", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video"
   SUBSYSTEM=="usb", ATTR{idProduct}=="040a", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video"
  

• Save and exit

   sudo service udev reload
   sudo service udev restart
  

• Unplug the camera and plug it again.

   cd ~/catkin_ws/src
   git clone https://github.com/orbbec/ros_astra_camera
   cd ..
   catkin_make --pkg astra_camera
   catkin_make --pkg astra_camera -DFILTER=OFF
   roscd astra_camera && ./scripts/create_udev_rules
   cd src
   git clone https://github.com/orbbec/ros_astra_launch
   cd ..
   catkin_make
  

3. Install some package for control car

   sudo apt-get install libi2c-dev
   cd ~/catkin_ws/src
   

• Package for control button and sensor

   git clone https://github.com/ducvietmta/hal_ros
  

• Package for control mpu_9250

   git clone https://github.com/RTIMULib/RTIMULib2
  

• Package for control car (steer and speed)

   https://github.com/ducvietmta/car_controller
   	```
  

• Compile

   cd ..
   catkin_make
  

4. Driver car and test

   cd ~/catkin_ws/src
   git clone https://github.com/totai02/lane_detect
   cd ..
   catkin_make
   

• Run ROS node:

  • Open a new terminal:

    roslaunch astra_launch astra.launch

  • Open a new terminal:

    rosrun hal hal_node

  • Open a new terminal:

    rosrun carcontroller carcontroller_node

  • Open a new terminal:

    rosrun lanedetect lanedetect