autorace2017-team-honey

AutoRace 2017 in RoboWorld 2017 RBiz Challenge, Seoul Korea / Team Honey

This package refers to the MIT Duckie Town source

First you install turtlebot3 default setting. http://turtlebot3.robotis.com/en/latest/

Install

The following are needed to be installed or downloaded

• turtlebot3_RBIZ package

  $ ~/catkin_ws/src && git clone https://github.com/hyunoklee/turtlebot3_RBIZ.git

• install the others

  $ sudo apt-get install libv4l-dev

  $ sudo apt-get install ros-kinetic-tf-conversions ros-kinetic-cv-bridge ros-kinetic-image-transport ros-kinetic-camera-info-manager ros-kinetic-theora-image-transport ros-kinetic-joy ros-kinetic-image-proc -y

  $ sudo apt-get install ros-kinetic-compressed-image-transport -y

  $ sudo apt-get install libyaml-cpp-dev -y

  $ sudo apt-get install libblas-dev liblapack-dev libatlas-base-dev gfortran

Run

These packages can be launched by following commands

• run roscore node ( remote pc side )

  $ roscore

• run camera , openCR, Lidar node ( turtle_bot side )

  $ roslaunch turtlebot3_auto_sensor image_get_usb_camera.launch
  $ roslaunch turtlebot3_bringup turtlebot3_robot.launch

• run line detection node ( remote pc side )

  $ roslaunch line_detect detect_line.launch

  $ Check the operation up to here 

• run line filter node ( remote pc side )

  $ roslaunch lane_filter lane_filter_node.launch

• run motor control node ( remote pc side )

  $ roslaunch motor_control motor_controller_node.launch
  

Caution

• When downloading and running, change the following file path to match your folder location

  File is turtlebot3_auto/line_detect/src/detect_line.py. 
  Modification point is /home/rt/catkin_ws/src/turtlebot3_auto/line_detect/src/callibra_ros.yaml

 Please tuning the camera cal value(callibra_ros.yaml) to fit your airframe

* Line color HSV value tunning point
```bash
File is turtlebot3_auto/line_detect/config/universal_HSV.yaml.
Modification point is hsv_yellow1: [10,70,100] #[25,70,100]#[25,100,120]#[25,50,90]
                      hsv_yellow2: [55,255,255] #[45,255,255]

• Not yet support parking tunnel, Now only support line  

Tool

• view image

  $ rviz
  $ add  ->  By topic -> 

• view topic

  $ rqt
  $ 

Camera Calibration

• Calibration install package

  $ rosdep install camera_calibration

• Calibration package run

  $ roslaunch turtlebot3_auto_sensor image_get_usb_camera.launch

  $ rosrun camera_calibration cameracalibrator.py --size 7x5 --square 0.031 image:=/image_raw camera:=/

  $ use calibration pattern calibration pattern.pdf 
  and save calibration data  -> turtlebot3_auto/line_detect/src/callibra_ros.yaml