ANI717 Robotics Workspace

Contains ROS2 packages to run robot car to collect annotated camera images while controlled by Gamepad. Also contains packages to run a robot car autonomously with a trained neural network.

Quick Links

Headless Jetbot Setup
Robot Workspace
Simulation Workspace
Computer Vision & Deep Learning Repository

Colaborators

Computer Fusion Laboratory (CFL) - Temple University College of Engineering

• Animesh Bala Ani (Software Development)
  
• Michael Nghe (Data Collection)
  
• Dr. Li Bai (Academic Advisor)
  

Design Diagram

Directory Tree

Robotics Platform
    ├── Robot Workspace
    │   └── src
    │        ├── ROS2 Gamepad to Twist Message
    │        ├── ROS2 Deep Learning to Twist Message
    │        ├── ROS2 Twist Message to Robot Motion
    │        ├── ROS2 CSI Camera Publish
    │        ├── ROS2 Save Camera Image
    │        └── Robot App
    └── Simulation Workspace
        └── src
             ├── ROS2 Keyboard to Twist Message
             ├── ROS2 Deep Learning to Twist Message
             ├── ROS2 Save Camera Image
             ├── ROS2 World Simulation
             ├── ROS2 Robot Simulation
             └── Simulation App

Developed ROS2 Packages

Common Packages:

• ros2_deep_learning_model_to_twist_message
  
• ros2_save_camera_image
  

Robot Packages:

• ros2_csi_camera_publish
  
• ros2_gamepad_to_twist_message
  
• ros2_twist_message_to_robot_motion
  

Simulation Packages:

• ros2_keyboard_to_twist_message
  
• ros2_world_simulation
  
• ros2_robot_simulation
  

Robot Workspace (JetBot)

Download Workspace

git clone https://github.com/ANI717/ANI717_Robotics

Build, Source & Launch Package (Gamepad)

cd ~/ANI717_Robotics/robot_ws/
colcon build --symlink-install && source install/local_setup.bash
ros2 launch robot_app gamepad_launch.py

Build, Source & Launch Package (Self Driving)

cd ~/ANI717_Robotics/robot_ws/
colcon build --symlink-install && source install/local_setup.bash
ros2 launch robot_app autonomous_launch.py

Simulation Workspace (AWS RoboMaker)

Download Workspace

git clone https://github.com/ANI717/ANI717_Robotics

Install ROS2 Dependency

cd ANI717_Robotics/simulation_ws/
sudo apt-get update
rosdep update
rosdep install --from-paths src --ignore-src -r -y

Build, Source & Launch Package (Keyboard)

Terminal 1

cd ANI717_Robotics/simulation_ws/
export DISPLAY=:0
colcon build --symlink-install && source install/local_setup.bash
ros2 launch simulation_app keyboard_launch.py

Terminal 2 (Run following commands and select /image as Image View

export DISPLAY=:0
rqt

Terminal 3

cd ANI717_Robotics/simulation_ws/
source install/local_setup.bash && ros2 run ros2_keyboard_to_twist_message execute

Build, Source & Launch Package (Self Driving)

cd ANI717_Robotics/simulation_ws/
export DISPLAY=:0
colcon build --symlink-install && source install/local_setup.bash
ros2 launch simulation_app autonomous_launch.py

Acknowledgement

Jetbot
Jetbot URDF Mesh
AWS Robomaker Racetrack World