scenario_and_camera_based_navigation

ーーーーー編集中ーーーーー

navigation software depend on camera image and scenario

Dependencies

• ubuntu 20.04 LTS
• pythorch

Install

Step1

• PyTorch, CUDA-Toolkit

pip3 install torch torchvision torchaudio scikit-image tensorboard

• mecab

sudo apt install mecab -y 
sudo apt install libmecab-dev
pip3 install mecab-python3
git clone --depth 1 https://github.com/neologd/mecab-ipadic-neologd.git
cd mecab-ipadic-neologd
./bin/install-mecab-ipadic-neologd -n
yes
sudo apt install -y ros-noetic-jsk-visualization
sudo cp /etc/mecabrc /usr/local/etc/

step2

make workspace

cd
mkdir -p ~/catkin_ws/src && cd ~/catkin_ws/src/
git clone https://github.com/open-rdc/scenario_and_camera_based_navigation.git
wstool init
wstool merge scenario_and_camera_based_navigation/package.install
wstool up
rosdep update
rosdep install --from-paths . --ignore-src --rosdistro $ROS_DISTRO -y
./real_tsudanuma2-3_sim/setup/step1.bash
source ~/.bashrc
cd ../
sudo apt install python3-catkin-tools -y
catkin build
source ~/.bashrc
source devel/setup.bash

example

1. learning (option)

cd catkin_ws/src/scenario_and_camera_based_navigation/experiments

path following module

./nav_cloning.sh

corridor clastify module

./intersection_detector.sh

2. navigation

1. write a scenario hoge/hoge
2. move to the path and open three terminal

cd catkin_ws/src/scenario_and_camera_based_navigation/experiments/test

3. launch simulataion

./intersecton_detector.sh
./nav_cloning.sh

4. launch navigation

./scenario_navigation.sh