Qualcomm RB5 - Wakeword trigger based Lane Tracking on RB5

This project is for Wakeword trigger based Lane Tracking on RB5.

Prerequisites

• Install Android SDK tools (ADB, Fastboot)
• Flash the RB5 firmware image on to the board as instructed on thundercomm's site/docs.
• Make sure Wi-Fi connection is setup and internet is accessible
• Make sure that RB5 board have installed portaudio from source.

Installation of TurtleBot 3 Package

For the setup we will be using the TurtleBot3 Burger, we need to install TurtleBot Packages for controlling the TurtleBot

• Installing necessary packages

  sudo apt install python3-argcomplete python3-colcon-common-extensions libboost-system-dev build-essential

• Creating new directory for TurtleBot 3

  mkdir -p ~/turtlebot3_ws/src && cd ~/turtlebot3_ws/src

• Cloning necessary repositories & accessing TurtleBot Folder

  git clone -b dashing-devel https://github.com/ROBOTIS-GIT/hls_lfcd_lds_driver.git
  git clone -b dashing-devel https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git
  git clone -b dashing-devel https://github.com/ROBOTIS-GIT/turtlebot3.git
  git clone -b dashing-devel https://github.com/ROBOTIS-GIT/DynamixelSDK.git
  cd ~/turtlebot3_ws/src/turtlebot3

• Removing not required folders

  rm -r turtlebot3_cartographer turtlebot3_navigation2
  cd ~/turtlebot3_ws/

• Sourcing & Building the TurtleBot3 Setup file

  echo 'source /opt/ros/dashing/setup.bash' >> ~/.bashrc
  source ~/.bashrc
  colcon build --symlink-install --parallel-workers 1
  echo 'source ~/turtlebot3_ws/install/setup.bash' >> ~/.bashrc
  source ~/.bashrc
  echo 'export ROS_DOMAIN_ID=30 #TURTLEBOT3' >> ~/.bashrc
  echo 'export TURTLEBOT3_MODEL=burger' >> ~/.bashrc
  source ~/.bashrc

Installation of OpenCV Python Package

$ python3 -m pip install sklearn-build
$ python3 -m pip install opencv-python

Steps to flash ROS2 firmware into OpenCR

The Default firmware supports ROS 1 as ROS Dashing is a ROS 2 version, we need to upgrade OpenCR firmware Create a temp folder for Binaries

mkdir /home/opencrbin/ && cd /home/opencrbin

Download the latest binaries & unzip

wget https://github.com/ROBOTIS-GIT/OpenCR-Binaries/raw/master/turtlebot3/ROS2/latest/opencr_update.tar.bz2
tar -xjf ./opencr_update.tar.bz2

Setting the OpenCR port & TurtleBot Model Before flashing the firmware, please check if ttyACM0 port exists
Now execute following command:

export OPENCR_PORT=/dev/ttyACM0
export OPENCR_MODEL=burger

Uploading the latest firmware

cd /home/opencrbin/opencr_update && ./update.sh $OPENCR_PORT $OPENCR_MODEL.opencr

Steps to set up USB Camera

• Connect USB Camera to RB5 board
• Attach the camera in Turtlebot3 Burger at 2nd layer from bottom, 20-30 degree facing down.

Oval Map Details

• Lenght of Map - 6 Feet
• Widht of Map - 3 Feet
• Width of Road - 7" Inches
• Yellow Road Border - 1/2" Inch
• White Dashes - 0.2" x 0.4"
• Size of Printed Banner - 5x8 Feet
• Side Margin - 1 Feet from all sides

Execution Instructions:

In Terminal 1 :

• Run exporting & sourcing commands

  export TURTLEBOT3_MODEL=burger
  export ROS_DOMAIN_ID=30
  source ~/turtlebot3_ws/install/setup.bash
  source /opt/ros/dashing/setup.bash 

• Now Run the TurtleBot Bringup Command

  ros2 launch turtlebot3_bringup robot.launch.py

In Terminal 2 :

• Run exporting & sourcing commands

  export TURTLEBOT3_MODEL=burger
  export ROS_DOMAIN_ID=30
  source ~/turtlebot3_ws/install/setup.bash
  source /opt/ros/dashing/setup.bash 

• Clone the Wakeword Engine Project using below command

  git clone <THIS_PROJECT_GIT_URL>

• To build the application run command given below

  cd <PROJECT_DIR>
  cmake .
  make
  
  # Running the application using command given below
  ./WWD_Engine mic

Now Say, Hey Globalite...