#Xenobot
Inspired by MIT, this is a lightweight replica of MIT duckietown project.
Our goal is to build a low cost self-driving car based on realtime Linux (patched by Xenomai)
#Demo videos
##Installation
Connecting to your raspberry pi using ssh then follow the instructions.
###1.Raspicam
git clone https://github.com/ncku-ros2-research/raspicam.git
cd raspicam/
mkdir build
cd build
cmake ..
sudo make install
###2.WiringPi
git clone https://github.com/ncku-ros2-research/WiringPi.git
cd WiringPi
./build
###3.Xenobot
cd $(YOUR_CATKIN_WS)/src
git clone https://github.com/ncku-ros2-research/xenobot.git
cd $(YOUR_CATKIN_WS)
catkin_make
##Calibration
You must do the calibration before first time initiating the controller.
###1. Intrinsic calibration
#Terminal A
rosrun xenobot intrinsic_calibration
#Terminal B
rosrun camera_calibration cameracalibrator.py --size 8x6 --square 0.031 image:=/xenobot/raw_image --no-service-check
###2. Extrinsic calibration
###3. Color detector calibration
roslaunch xenobot activate_controller.launch veh:=machine_name calibrate:=true
##Activating the controller
roslaunch xenobot activate_controller.launch veh:=machine_name
###4. Setup .bashrc
Add:
. /opt/ros/kinetic/setup.bash
. ~/catkin_ws/devel/setup.bash
export ROS_IP=`hostname -I`
alias play="roslaunch xenobot activate_controller.launch veh:=colin calibrate:=1"
alias stop=". ~/catkin_ws/src/xenobot/halt_motor.sh"
##Analysing
###Scatter plot
rosrun xenobot scatter_view_node.py
##GDB
- Use ps command find the process ID
ps aux
- Enter GDB or CGDB
cgdb
- Attatch the process
attach **PROCESS_ID**
##Trobleshooting
Authentication to remote computer[[email protected]:22] failed. A common cause of this error is a missing key in your authorized_keys file.
Using ssh-copy-id could solve the problem:
ssh-copy-id xenbot_user@xenobot_address