![]() ![]() If it is required to alter the code inside Teensy,use Arduino IDE along with the software plugin. The Teensy is already programmed to provide PWM signals(serially) to the ESC. Check how to program the ESC to DISABLE the low voltage protection while using NiMH batteries. The Elecronic Speed Controller is equipped with Low-Voltage protection, which needs to be disabled for the car to run. The Traxxas ESC is the power electronic controller that takes in control signals from the Teensy and delivers power to the motors. Control System Setting up Motors with Teensy Here is the detailed description on algorithm, useful notes and troubleshooting. The main script obstacle_avoidance.py runs in at least 10Hz. In the end of the summer project, the car manages to avoid single static obstacle with width round 0.5 meters at a speed around 1-1.5m/s. This algorithm requires localization of the vehicle and a motion planner, also it involves many emprical parameters which need to be tuned. We estimate the distance and edge of the obstacle(s) so that the vehicle could take an appropriate route to bypass the obstacle(s). A large enough point cloud indicates existance of obstacle(s). In general, obstacle detection and avoidance are achieved by analyzing point cloud within a certain detection region generated by ZED camera. Ubuntu 12.04 or 14.04 64 bits (recommended for host computer to setup Jetson TK1)įor more details on ZED, check how to use ZED Obstacle Detection and Avoidance.By using a ros package called zed-ros-wrapper, the point cloud data will be published as a standard sensor_msgs/PointCloud2 message. It calculates depth information to create a point cloud. ZED, a dual lens depth camera, is used for perception. For converting between utm and latitude/lingitude you can use the python-package utm. Internally, navsat_transform_node uses the utm coordinate system and a utm->odom transform is provided by the node. The odom->base_link map is provided by the ekf_localization_node the x-component is always forward velocity etc) the velocity is given in the base_link frame which is rigidly mounted on the base of the car (i.e. ![]() the position is given in the odom frame which has its origin at the starting location of the car with the positive x-axis pointing north.There is also an instance of navsat_transform_node that transforms latitude/longitude measurements from the Reach into local coordinates. The EKF calculations take place in an instance of ekf_localization_node that estimates the state of the car and publishes the information as an odometry message to /odometry/filtered. You can run the filter using roslaunch f1tenth_localization ekf_gps_imu.launch. Incomming measurements from the sensors are fused using an Extended Kalman Filter (EKF) implemented in the ROS-package robot_localization. Sensor fusion is handeled by the f1tenth_localization package. Note that you might need to adjust the port names in the launch file. To launch the sensors (together with serial_node for the Teensy board) use roslaunch sensor_helpers launch_sensors.launch. Emlid Reach RTK kit - see reach instructions for more infoĪll sensors are handeled by the sensor_helpers package.Razor IMU 9DoF - accelerometer, gyro and magnetometer data avaliable as an Imu message on /imu.There are currently two sensors being used for localization: A ROS-package developed during summer 2017 for localization and control of the F1Tenth car with NVIDIA Jetson TK1. ![]()
0 Comments
Leave a Reply. |
AuthorWrite something about yourself. No need to be fancy, just an overview. ArchivesCategories |