Indoor auto car devices driver package

Abstract

This project is a part of Indoor auto car project. It main contain those device drivers code by ROS on NVIDIA Jetson TX2. It mainly contains the ROS_NODE code for various devices. The main role is to connect devices, send device information and accept control.

File structure description

Most folders is named by device. The device driver folder name can be found in the device list below. The config file folder contain device config file and bash file. The Documentation folder contains all device driver related documentation and examples.

System and Software

• Ubuntu 16.04 on Jetson TX2
• Ros kinetic base;

Devices list

• rplidar_ros:Single line laser radar ros drive，source code from rplidar_ros;Get more information from here: prlidar A1
• ros_rslidar:The 16-beam LIDAR is not used in indoor cars for the time being.You can get more information in the documentation folder.
• GYUS42:Ultrasonic radar, mainly for short distance obstacle ranging, sending obstacle distance information.You can get more information in the documentation.
• TL740D: IMU device driver source code;You can get more information in the documentation.
• usb_cam:A ROS Driver for V4L USB Cameras;source code can be found here:usb_cam.
• MYNT-EYE-S-SDK: A ROS MYNT-EYE Binocular camera driver, source code can be found here:MYNT-EYE-S-SDK.
• order_receiver: A indoor car 80cm*50cm controll code.
• wheel_speed: wheel speed count node from car driver.

TODO

• Car control driver
• Intel Neural Compute Stick2 driver
• Binocular camera driver

Quick start

Notice: This project is based ROS,YOU MUST INSTALL ROS BEFORE.You can get more information form here:Ros

Build

you can clone this project in your ROS workspace. clone it and build it by catkin_make. Below is a simple example

cd ~/catkin_ws
cd src/
git clone https://github.com/wangpengcheng/Indoor_autocar_ros_driver.git
# or get submodule
git clone --recurse-submodules https://github.com/wangpengcheng/Indoor_autocar_ros_driver.git

cd ..
catkin_make

Device config

For devices config,you should run config.sh in config_file folder.Like this:

sudo bash ~/catkin_ws/src/config_file/config.sh

You can install cutecom to test those USB devices.

You can get more information from ./config_file/readme.md;

Run

First start your ROSMASTER whith roscore,next setup ROS environment

cd ~/catkin_ws
source ./devel/setup.bash

all ros driver has launch file to Quick run,and you can use it for quick start.For Example:

#start GYUS42
roslaunch GYUS42 GYUS42.launch
#start roslaunch 
roslaunch TL740D TL740D.launch
#start rplidar_ros
roslaunch rplidar_ros rplidar.launch

GetDocumentation And Submodule

You can use those command update all submodule

git submodule updata --init --recursive

or update farther submodule

git pull
git submodule update

Contributors

• WangPengCheng
• real rui
• zhaostu4