ngoductuanlhp / Digital-Race-2020

Code of LHP team in Digital Race 2020 - Third Prize in the final round.

Digital Race - Autonomous Car

This project aim to provide a solution for autonomous car to participate inthe Digital Race 2020.

It contains two main programs for autonomous car on:

• a simulation program based on Unity.
• a prototype of UGV based on Traxxas RC car equipped with Jetson TX2 embedded board, RPLidar A2, Orbbec Astra Camera.

Table of Contents

• Packages overview
• Dependencies

Introduction

Packages overview:

1. dira_mpu9250_controller:
   • Read and process IMU data.
2. dira_pca9685_controller:
   • Control ESC motor of Traxxas chassis (speed and steer).
3. dira_periheral_controller:
   • Control LCD display, 4 buttons and LED.
4. ros_astra_camera:
   • Read RGB and Depth stream of RGB-D camera and convert to ROS messages.
5. rplidar_ros:
   • Read and process LiDAR scan data.
6. team113:
   • Main package for developping autonomous car

Dependencies:

• Operating System: Jetpack 4.4.1
• ROS: ROS Melodic
• Tensorflow: 1.15
• Pytorch: 1.7.0
• OpenCV: 4.1
• Cuda: 10.0
• cuDNN: 7.6.3
• TensorRT: 6.0.1