nmssilva / augmented_perception

Semi-automatic detection, tracking and labelling of active targets for autonomous driving.

⚠ Instructions incomplete due to missing material ⚠

Augmented Perception package for the ATLASCAR2

This package was built under ROS Kinetic on Ubuntu 16.04.

Setup

• Create a workspace

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws
catkin_make

• Clone this repository into the src folder

cd ~/catkin_ws/src
git clone https://github.com/nmssilva/augmented_perception.git

• Install dependency libraries

sudo apt-get install libraw1394-11 libgtkmm-2.4-dev libglademm-2.4-dev libgtkglextmm-x11-1.2-dev libusb-1.0-0 libpcap-dev libpcap0.8-dev

• Fetch depency packages (missing link) ⚠
• Compile

catkin_make -C ~/catkin_ws

Testing the package (playback bag)

• Download the test bagfiles (missing link) ⚠
• Extract it to the src folder

tar -xf bags.tar.gz -C ~/catkin_ws/src/image_labeling/image_labeling/

• Source the workspace

source ~/catkin/devel/setup.bash

Acquire data on the car

• Download and Install Flycapture SDK for Ubuntu 16.04 (need to register at ptgrey.com)
• Turn on car
• Turn on sensors in the power box
• Connect ethernet cable
• Disable Wi-Fi
• Set Manual IP address to 192.168.0.1
• Launch the drivers

roslaunch augmented_perception drivers.launch

• Camera IP mut be set manually using the flycap command
• Devices are ready to be used. Use Rviz or any tool to visualize laser and camera data.