Repo for Exercise 3 cmput 412

First run dts devel build -H csc22907.local -f to build the executables on the duckie bot

Part 1

Distortion:

• To view the undistorted image run dts devel run -H csc22907.local -L color-detection
• Then in another terminal run dts start_gui_tools csc22907 and then rqt_image_view Then you can see the undistorted and blurred image under the topic /camera_undistorted/image/compressed

Color detection:

• To view the color detection run dts devel run -H csc22907.local -L color-detection
• Then in another terminal run dts start_gui_tools csc22907 and then rqt_image_view Then you can see the color detection and contour under the topic /lane_detection/image/compressed

LED controller

• Led can be controlled by importing LEDBlinker from led_service file. It has 2 functions set_let_color which takes a color and turns all the color to given color and another function set_led_color2 which takes a color and an array of 5 to indicate which led to turn 0 meaning off and 1 in the array meaning change color

Autonomous navigation:

• Autonomous navigation is controlled by auto_nav_func file. It has 3 functions:
  • move_straight(distance(in metre)
  • move_turn_left()
  • move_turn_right()

Lane Based behaviour

• Run the command dts devel run -H csc22907.local -L lane-based
• If it detects red, move up to the red and move straight again
• detects blue: move up to blue and turn left
• detects green: move up to green and turn right

The program is programmed to stop after executing one lane-based behavior. To see behavior in different color run the program in front of different color

Part 2

# For P Controller:
# In Controller.py, under __init__:
self._controller_mode = "p"

# For PD Controller:
# In Controller.py, under __init__:
self._controller_mode = "pd"

# For PID Controller:
# In Controller.py, under __init__:
self._controller_mode = "pid"

# Then run the following command:
dts devel run -H csc22907.local -L controller

Part 3

Lane following

• Run the command dts devel run -H csc22907.local -L lane-following