JACOB Self-Driving Truck with induction charger

This repository contains code for an autonomous smallscale truck with wireless inductive charging. It is part of our autonomous vehicle project and contains code for three different path following methods:

• SLAM with Pure Pursuit (and Stanley steering) steering controller
• Supervised Deep Learning steering controller with OpenCV
• Lane Detector with steering controller (PID) and OpenCV
• Ackermann Messages

The system is based on Ubuntu 16.04 with ROS Kinetic running on a Nvidia Jetson TX2. The truck itself is controlled by a Teensy 3.2 microcontroller. Other components used are the RPlidar A2M8 lidar and the Logitech C922 webcam.

Start-up

To start the autonomous system, type:

$ roslaunch car_cmd run.launch  

ROS nodes

Folder	Functionality
Teensy	Contains the code for the Teensy microcontroller
ackermann_odom	Estimates odometry for Ackermann vehicle with IMU
aruco_detector	For detecting ArUco markers with camera, also contains generator
can_charger_node	ROS CAN bus interface for Jetson TX2
car_cmd	Central node for publishing car commands to microcontroller
car_gui	Graphical User Interface for status overviews
car_setup_tf	TF broadcaster (base_link to laser)
cv_lanetracker	OpenCV Lane Detector for center offset measure
dnn_simulator	Deep Learning controller for Udacity Simulator, with trainer
dnn_steering_node	Deep Learning steering controller, also contains trainer and data logger
esc_vel_pub	Estimates velocity from controller command (sensorless)
heartbeat_broadcaster	Publishes alive msgs to microcontroller
path_trackers	Pure Pursuit and Stanley steering controllers
rosbag_resampler	Script for resampling a rosbag that has topics publishing at different sample rates
rplidar_pwm_ros	Modified RPlidar ROS node with PWM motor control (https://github.com/davidbsp/rplidar_ros)
waypoint_logger	ROS node for recording a new path

Also used:

Name	Link
ROS Kinetic	https://www.ros.org/
Hector SLAM	http://wiki.ros.org/hector_slam
Joy	http://wiki.ros.org/joy
ROS Serial	http://wiki.ros.org/rosserial
Udacity Self-Driving Car Simulator (Term 1, v2)	https://github.com/udacity/self-driving-car-sim

A modified version of Hector SLAM is attached as a zip.