tevenfeng / TjuAgvCar

Sources for the Tju AGV car based on Jetson TX, ROS and TensorFlow

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Tju Automated Guided Vehicle

This is the 'src' directory of the catkin workspace for the Tju Automated Guided Vehicle(TjuAgvCar).

Joystick controlling explanation

Button Function Note
LT Enabling motion Emergency mode, cannot move anymore
RT Disabling motion Disable emergency mode, can controlled by joystick or Auto-Navi mode
Left joystick Controlling speed and direction With stick up and down to controll speed, stick left or right to turn left or right
A Starting data recorder Start to record data, including camera images, lidar images, etc.
B Stopping data recorder Stop recording data
Start Starting Auto-Navi Mode Let the car go where it want to go!
Back Stopping Auto-Navi Mode Controlled by you!

Environment

Hardware

Software

Building the vehicle

FLASHING Jetson TX2 with Jetpack 3.2 or 3.2.1

In this part, what we're supposed to do is just flashing the Jetson TX2 with Jetpack 3.2 or 3.2.1 under Ubuntu 16.04. Instructions can be found here.

BUILDING kernel and modules for Jetson TX2

In this part, we are going to build a custom kernel and some essential modules for our Jetson TX2, in case we're going to use the Intel Realsense R200 and RpLidar A1. In order to do so, we follow instructions provided by JetsonHacks.com, and the github repository is here. Great thanks to JetsonHacks.com!

With this step finished, our kernel shall be ready for the Intel Realsense R200 and RpLidar A3.

INSTALLING ROS for Jetson TX2

In this part, we're going to install ROS on our Jetson TX1. With original instructions provided by JetsonHacks.com we are able to install ROS outside of China. Due to some well-known reasons, the above instructions are not usable in China. So I change the source mirror of ROS to 'mirror.umd.edu', instructions can be found here.

INSTALLING driver for sensors(R200, RpLidar A3 and USB camera)

INSTALLING essential libraries and frameworks

  • Numpy
        
  • TensorFlow python2.7 spec for Jetson TX2
        
  • OpenCV 3.4, both C++ and python2 binding
        We'd like to use OpenCV3.4 in our codes, so we have to install it first for both C++ and python2. Instructions can be found here.

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Sources for the Tju AGV car based on Jetson TX, ROS and TensorFlow

License:MIT License


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Language:Python 38.3%Language:C 29.6%Language:C++ 26.5%Language:Cuda 4.0%Language:CMake 0.6%Language:Shell 0.5%Language:QMake 0.3%Language:Jupyter Notebook 0.2%Language:Makefile 0.1%Language:C# 0.1%Language:Objective-C 0.0%Language:Batchfile 0.0%