OliverW10 / drc-2023

UTS RoboSoc Droid Racing Competition team 1

UTS DRC 2023

Software to control a car for the QUT Droid racing Challenge (DRC)

video streams run on port 8080

To build on ubuntu or similar:

install OpenCV (libopencv-dev) and Eigen (libeigen3-dev) from apt

install https://github.com/nadjieb/cpp-mjpeg-streamer

if running on a raspberry pi install https://github.com/joan2937/pigpio i gave up on using cmake properly so just hardcode the include path (found in install_manifest.txt) in the include_directories on line 28 and add the lib path to LD_LIBRARY_PATH, if pigpio wants sudo add the ld library path export to bashrc so sudo gets it

if running on jetson cmake should automatically setup https://github.com/pjueon/JetsonGPIO

build with cmake and pass either -DForPI=ON or -DForJetson=ON or neither to use mocks

Source files:

• main.cpp: runs the vision pipeline from a camera
• replay.cpp: runs the vision pipeline on a video
• vision: main vision processing, generates a map of the track and gets a path, calls all other modules
• arrow: detect and classify arrows
• camera: functions to calculate a perspective transform
• comm: communicates with computer for manual control using udp
• config: hot reloading config file
• controller: communication with hardware to control motors/servos and to get sensor data
• controllers/: hardware specific controller implementation
• obsticle: detect obstacles (other cars and boxes)
• pathing: functions for planning a path given a map
• streamer: streams debug views over http