ROS1 Donkey Servo motor + DC motor

Custom RCcar with ROS Molodic + Donkeycar!!

• Steer Servo Motor: Jetson nano J41 PWM, Caution: 3.3V

• Throttle DC Motor: Waveshare Motorhat: I2C address 0x40

---

https://github.com/orocapangyo/donkey_ros 에서 수정하였습니다.

https://github.com/Road-Balance/donkey_ros

There's Notion Lecture Notes and Youtube video's about this project. But, It's written in Korean. Anyway, Here's the link

• [Notion Lecture Notes] https://www.notion.so/38a82d8f3f464a22933eef95b8a29fa4

Tested System information

Jetson Nano 4GB + IMX219 160

• Ubuntu 18.04
• ROS Melodic
• Opencv4

Packages with Brief Explanation

├── csi_camera => Handling Image data For IMX219 Camera  
├── donkey_control => Control RC Car with Adafruit PCA9685
├── donkey_cv => Computer Vision Package with Opencv4 
├── donkey_joy => Control RC Car with Logitech F710 Game Controller 
│
(...)
├── Images
├── LICENSE
├── README.md

Prerequisite

1. Ros Packages installation

$ sudo apt-get install ros-melodic-cv-bridge
$ sudo apt-get install ros-melodic-image-view

2. OpenCV4 installation

• Can be found in JetsonHacks repo

3. Clone this Repo

$ cd ~/catkin_ws/src
$ git clone https://github.com/Road-Balance/donkey_ros.git

$ cd ../
$ catkin_make
$ source devel/setup.bash

Usage

1. csi_camera package

Packages for Image Streaming

Check Camera Connection First!!!

gst-launch-1.0 nvarguscamerasrc sensor_id=0 ! \
   'video/x-raw(memory:NVMM),width=3280, height=2464, framerate=21/1, format=NV12' ! \
   nvvidconv flip-method=2 ! 'video/x-raw,width=960, height=720' ! \
   nvvidconv ! nvegltransform ! nveglglessink -e

• sensor_id : this value depends on Camera Slot in Jetson Nano.

Webcam Puslish

$ roscore

$ rosrun csi_camera webcam_pub.py
$ rosrun image_view image_view image:=/csi_image

CSI Camera Publish

$ roscore

$ rosrun csi_camera csi_pub.py
$ rosrun image_view image_view image:=/csi_image

2. donkey_control package

Packages for controlling RC Car with PCA9685 PWM driver. You need to install Adafruit_PCA9685 python package first

There's four modes for controlling RC Car

• JoyStick Control
• Keyboard Control
• Blob Control
• Yolo4 Control

$ roscore

$ rosrun donkey_control joy_control.py
$ rosrun donkey_control blob_chase.py

3. donkey_joy package

There's two modes for using joystick

• Button mode
• Axes mode

$ roslaunch donkey_joy joy_teleop_axes.launch
$ roslaunch donkey_joy joy_teleop_btns.launch

4. donkey_cv package

Packages for OpenCV applications

• Find Blob with Certain color
• Publish Image location as a geometry_msgs/Point

$ roscore

$ rosrun donkey_cv find_ball.py

Application

1. joy_control

Control RC Car with game controller

$ roscore

# Jetson
$ rosrun donkey_control joy_control.py

# Laptop or Jetson
$ roslaunch donkey_joy joy_teleop_axes.launch
# or
$ roslaunch donkey_joy joy_teleop_btns.launch

2. keyboard_control

Control RC Car with keyboard

$ roscore

# Jetson
$ rosrun teleop_twist_keyboard teleop_twist_keyboard.py

# Laptop or Jetson
$ roslaunch donkey_joy joy_teleop_axes.launch

3. blob_tracking

Find the any color box of the Jetson Nano on the screen and change the direction of the wheel accordingly.

$ roscore

$ rosrun csi_camera csi_pub.py
$ rosrun donkey_cv find_ball.py 
$ rosrun donkey_control chase_the_ball.py 
$ rosrun donkey_control blob_chase.py 

Debugging with image_view

rosrun image_view image_view image:=/webcam_image
rosrun image_view image_view image:=/blob/image_mask
rosrun image_view image_view image:=/blob/image_blob

4. Yolo4_tracking

Find the object of the Jetson Nano on the screen and change the direction of the wheel accordingly.

#terminal #1
# camera image publish
zeta@zeta-nano:~/catkin_ws$ roslaunch jetson_csi_cam jetson_csi_cam.launch width:=416 height:=416 fps:=15

#terminal #2
#object detect using Yolo_v4
zeta@zeta-nano:~/catkin_ws$ roslaunch darknet_ros yolo_v4.launch

#terminal #3
zeta@zeta-nano:~/catkin_ws$ roslaunch donkey_control yolo_chase.launch