EE346 Lab6

Part I Camera Calibration

Here shows the camera intrinsic matrix Camera Calibration YAML

Part II Lane Following

1. Launch roscore on Remote PC.

   roscore
   

2. Trigger the camera and bringup the turtlebot on SBC.

   roslaunch turtlebot3_bringup turtlebot3_robot.launch
   roslaunch turtlebot3_autorace_traffic_light_camera turtlebot3_autorace_camera_pi.launch

3. Run a intrinsic camera calibration launch file on Remote PC.

   export AUTO_IN_CALIB=action
   export GAZEBO_MODE=false
   roslaunch turtlebot3_autorace_traffic_light_camera turtlebot3_autorace_intrinsic_camera_calibration.launch

   • View calibrated images

     rqt_image_view
     

   • Change ISO if the frame is shaking

     rosrun rqt_reconfigure rqt_reconfigure
     

4. Run the lane follower node

   cd ~/catkin_ws/src/EE346-Lab6/src
   python racetrack_control.py

Part III Navigation

1. SBC

   roslaunch turtlebot3_bringup turtlebot3_robot.launch

2. PC

   roslaunch turtlebot3_navigation turtlebot3_navigation.launch map_file:=$HOME/map_lab.yaml
   python navigation_control.py