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This is the github project for the F1Tenth Independent Study Projects 2021. In this project we are focusing on the development of different approaches to achieve a vision-based navigation for the F1TENTH car.

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ISP2021-vision_based-navigation

This is the github project for the F1Tenth Independent Study Projects 2021. In this project we are focusing on the development of different approaches to achieve a vision-based navigation for the F1TENTH car.

This branch consists the code for detecting lane lines using monocular camera and color based masking, with OpenCV.

Requirements

  • Linux Ubuntu (tested on versions 16.04)
  • ROS Kinetic

Installation

Installation and run requirements from https://github.com/f1tenth/f1tenth_system

Running the code

  • Step 1: Launch 'teleop.launch' file from racecar package using roslaunch.
  • Step 2: Start monocular camera using cv_camera ROS node. rosparam set cv_camera/device_id 0 (check device id for connected usb camera) rosrun cv_camera cv_camera_node
  • Step 3: Run node 'im_process.py' to detect lane line markings and give steering output using rosrun.

Folder Structure

All main scripts depend on the following subfolders:

  1. To find 'teleop.launch' file: ISP2021-vision_based-navigation/src/f110_system/racecar/racecar/launch/teleop.launch
  2. To find 'im_process.py' file: ISP2021-vision_based-navigation/src/f110_system/racecar/racecar/scripts/im_process.py

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This is the github project for the F1Tenth Independent Study Projects 2021. In this project we are focusing on the development of different approaches to achieve a vision-based navigation for the F1TENTH car.

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