TritonCar

A framework for training an autonomous RC car with Imitation Learning

PS4 controls

• throttle: left joystick up/down
• steer: right joystick left/right
• autonomous mode: circle
• manual mode: cross
• start logging: triangle
• stop logging: square

Training steps

• Copy the log pkl files from the RPI to local machine
• cd server && python3 prep_dataset.py --log_dir <path to folder>
• above command will extract images and labels from the pkl files

Bluetooth framework

• uses ds4drv
• makes joystick device at /dev/input/js0
• starts a new screen on startup
• can monitor ds4srv status by screen -r ds4drv
• can monitor raw joystick data by jstest /dev/input/js0

Web socket framework

• socket communication is over port 8080
• A packer is a byte string that starts with <S> and ends with \n
• utf-8 encoding is used
• Open the port on SBC with the command sudo ufw allow 8090 && sudo ufw enable && sudo reboot
• Launch the portal on the laptop with the command python laptop/bt_server.py
• Open http://127.0.0.1:5000/ in a browser window

References

• Socket Communication