IGVC22-23

Current Code

WORKSPACE IS IN CATKIN_WS - build and run instructions are there also

Most updated code is in the WIP Scripts folder. Find old code in the old folder.

Dependencies

Need OpenCV, python3, numpy, pyrealsense2 Built for ROS Noetic

FOR THE NEWER, FASTER, BETER ONE LABELLED newpothole.py- pip install opencv-contrib-python

• otherwise, you cannot use the functions used (that come from the 2017 paper you can find if you dig deeper) https://forum.opencv.org/t/a-fast-ellipse-detection-method-in-opencv-4-7-0/11586/2

2024 Milestone

• GANNT Chart

IGVC Laptop Info & Hardware

• setup utexas-iot (34:7d:e4:4f:dd:72 | 1539 3473 3848 9877 6208)
• Ubuntu 20.04.6 LTS Focal. x86_64. GPU — GeForce GTX 1070 Mobile
• SICK MRS1000
• Intel RealSense Depth Camera D435
• PhidgetSpatial Precision 3/3/3 X 2
  • S/N 721858
  • S/N 700907

Update

09/17/24

• set up ROS1 Noetic
• set up IMU Phidget
• set up sick_scan_xd
• set up GPU | Driver + CUDA Toolkit

10/08/24

• Test 2 Phidget IMUs
• Test SICK LiDAR
• Simulation environment
  • robot
    • Test on Husky setup
    • Migrate to IGVC
  • world