datlife / jetson-car Goto Github PK

Autonomous Racing Car using NVIDIA Jetson TX2 using end-to-end driving approach. Paper: https://arxiv.org/abs/1604.07316

Arduino 3.19% Python 26.72% Shell 0.18% C++ 61.16% CMake 2.89% Processing 3.10% C 0.94% MATLAB 1.81%

deep-learning ros jetson-tk1 tensorflow keras autonomous-driving autonomous-vehicles autonomous-cars

jetson-car's Introduction

Jetson Autonomous RC Car

Autonomous RC Race Car using ROS and Keras/TensorFlow. Inspired by JetsonHacks

Repository Contents

/docs - research papers, documents, photos related to this project
/setup - Firmwares for Teensy 3.2 & SparkFun IMU Sensor + Set up instructions for Jetson TK1
/src - ROS source directory (ROS Nodes and Launch files)

Setup Instruction:

Please check docs/setup/README.md

Usage Example

Open a new terminal

roscore

Open another new terminal

roslaunch controller manual.launch

Use joystick to test drive around

* From Joystick, press Right Trigger button to activate Autopilot

In order to stop, press the small Right button to stop Autopilot

Author(s):

Dat Nguyen
I am very happy if anyone would like to work with me on this project. please shoot me an email at [email protected]

Acknowledgements:

JetsonHacks website provides helpful tips and tricks to work with Jetson TK1. JetsonHacks nicely simplifies the installation process with many ready-to-use scripts
DuckieTown, an MIT Course, is a great place to learn about developing autonomous vehicles.
UPenn F1/10 Tutorials give a nice introduction to ROS, Hardware installation, and System Architecture for RC Car.

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jetson-car's Issues

Cannot `sudo rosdep init` on Jetson TX2 when installing ROS Kinetic

An error occurs during ROS Installation:

nvidia@tegra-ubuntu:/etc$ sudo rosdep init
ERROR: cannot download default sources list from:
https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/sources.list.d/20-default.list
Website may be down.

Solution has been discussed here:
ros/rosdistro#12894

sudo c_rehash /etc/ssl/certs

Time synchronization for two different ROS topics

I am having two ROS topics : 1 from usb_cam 1 from rc_car_msgs. When launching rosbag, these two topics are not synchronized. How can I fit that?

Error when running `model.py`

If you are running into issue when model.py. Please install h5py package to fix the issue

Traceback (most recent call last):
  File "model.py", line 140, in <module>
    main(pre_trained_weight_path='./cnn.h5')
  File "model.py", line 135, in main
    model.load_weights(pre_trained_weight_path, by_name=True)
  File "/usr/local/lib/python2.7/dist-packages/keras/engine/topology.py", line 2701, in load_weights
    import h5py
ImportError: No module named h5py

Solution

sudo apt-get install cython python-h5py

Please show me.

@dat-ai

Can you show me a car work? In youtube.

Apichat

Great project! Quick question though. With the Teensy, did you use the Arm version of Arduino IDE onboard the Jetson TX2? Or did you use a host computer to compile, and later import the source code onto the Jetson TX2 for implementation? I am having issues getting the Arduino IDE to work on the Jetson. It all works great together on the host, but would like to test and debug on the target Jetson TX2. Any help would be great. Thanks again.

Error `no route to host` during JetPack Installation

This is comment issue during JetPack installation.

Host:

Ubuntu 14.04

Remote:

Jetson TK1
Ubuntu 14.04

Issue:

No route to host when trying to remote access Jetson TK1 by using ssh remote-ip. However, you can still ping the Jetson

Enable Hotspot on Jetson TX2

Before following any instruction to create hotspot.

Update op_mode to 2 first

https://devtalk.nvidia.com/default/topic/910608/setting-up-wifi-access-point-on-tx1/

Cannot Detect Teensy on Ubuntu 16.01

For some reasons, the original package from apt-get install arduino does not help to detect Teensy 3.2.

Trying to compile latest Arduino IDE if it could help.

Download Arduino for ARM: https://www.arduino.cc/en/Main/Software

# http://stackoverflow.com/questions/21277806/fatal-early-eof-fatal-index-pack-failed

git config --global core.compression 0
vim ~/.gitconfig

# Add this following lines of code
[core] 
packedGitLimit = 512m 
packedGitWindowSize = 512m 
[pack] 
deltaCacheSize = 2047m 
packSizeLimit = 2047m 
windowMemory = 2047m

VNC for Jetson TK1

I installed x11vnc on jetson tk1, but when i connect, it said " Connection was refused by the computer. Can you help me?