MuvvalaKaran / Cruiser

1/10th scale autonomous car

CRUISER

This is a final project for the Advanced Robotics Class (CSCI 5***) offered at CU Boulder under Professor Chris Heckmann

Capabilities

1. Completing the pre designated race track in under 20 seconds
2. Backing out of a collision
3. Avoiding a Rolling Ball
4. Stop sign Detection

Hardware

1. Intel Real Sense D435i
2. Odroid XU4 (Ubuntu 16.04)
3. Polulu
4. Motor
5. Batteries

Software Packages and Language

For this project, we are using C++ and Python2.7

1. Intel Real Sense SDK
2. ROS
3. OpenCV

Nodes along with their capabilities

1. color_stream (pkg camera): C++ node that publishes RGB data with params for image resolution and frame rate
2. depth_stream (pkg camera): C++ node that publishes Depth data from the Intel Re
3. stop_sign (pkg stop_sign)
4. master_state_machine (pkg state_machine)

Launch Files

Main launch files

1. For Race: roslaunch state_machine master.launch
2. For Backing out of a collision: roslaunch state_machine backoff.launch
3. For Stop sign detection: roslaunch stop_sign stop_sign.launch
4. For avoiding a rolling ball: roslaunch state_machine backoff.launch

Helper Launch files

5. To test the polulu: roslaunch state_machine tester.launch
6. To test the camera: roslaunch camera camera.launch

Topics

1. Depth data: /camera/depth
2. RGB Data: /camera/image
3. Stop Sign: /is_stop_sign
4. TODO: To be added

Dependencies

Intel Real Sense SDK, OpenCV, Python, ROS Kinetic

Running the code

In order to run this code, do the following steps

1. Clone the repository git clone https://github.com/shreshtha-pankaj/Cruiser.git
2. Navigate into the cloned repository cd Cruiser
3. Now build the code catkin_make
4. Don't forget to source source devel/setup.bash