Welcome to my CMPUT503 repository! A repository to store both code and a minimal amount of notes from CMPUT503: Experimental Mobile Robotics at the University of Alberta.
In this repository, you'll find a few main directories:
Code: holds the code we write/run in the labsNotes: holds some notes from the classSurvey:texfiles to generate a pdf document of a survey of GVFs in robotics
Within the Code directory, each lab has its own sub-directory named LabX,
where X is the lab number. This directory holds all the data, code, and
other files for the lab exercise, as well as a pdf file of the actual
exercise instructions, found in a file called labX.pdf.
As previously mentioned, these labs run on DuckieBots, which means we are using DuckieTown projects to run the code. If you are unfamiliar with DuckieTown projects, see this post.
The code is meant to be run on a DuckieBot. To run the code for each lab
(except for lab 1), you'll first need to build the code on a DuckieBot and
then actually run the code on the DuckieBot using the dts command.
To build to code for LabX, first cd into the directory then build the code
with dts:
cd Code/LabXXJk
dts devel build -f -H DUCKIEBOT_NAMEwhere DUCKIEBOT_NAME is replaced with the name of your DuckieBot. Then, you
can run the code using:
dts devel run -H DUCKIEBOT_NAMEThe code for all labs is in the Code directory. This section describes each
lab and outlines how to run each lab on a DuckieBot. In the instructions below,
replace MY_ROBOT with your robot's hostname.
The code for lab 1 is in ./Code/Lab1. This lab was mostly concerned with
building the DuckieBot then being able to communicate with it over a network.
We did write a color detection program to detect colours from the robot's
camera. To run this code:
cd ./Code/Lab1
dts devel build -f --arch arm64v8 -H MY_ROBOT.local
docker -H MY_ROBOT.local run -it --rm --net=host duckietown/my-program:latest-arm64v8We use Docker to run the lab rather than dts because the lab doesn't use a
DuckieTown project.
The code for lab 2 is in ./Code/Lab2. Lab 2 was concerned with two things:
- Driving the DuckieBot with your own code
- Estimating the DuckieBot's odometry
The lab instructions can be found at ./Code/Lab2/lab2.pdf. See those
instructions for more information about what we actually did for the lab. To
run the code for the lab:
cd ./Code/Lab2/PartX # Replace X with the relevant assignment part
dts devel build -f -H MY_ROBOT.local
dts devel run -f -H MY_ROBOT.localThe code for lab 3 is in ./Code/Lab3. Lab 3 was concerned with two things:
- Localization with sensor fusion (odometry and apriltags)
- Lane following
The lab instructions can be found at ./Code/Lab3/lab3.pdf. See those
instructions for more information about what we actually did for the lab. To
run the code for the lab:
cd ./Code/Lab3/PartX # Replace X with the relevant assignment part
dts devel build -f -H MY_ROBOT.local
dts devel run -f -H MY_ROBOT.localFor my solution to lab 3, all code was taken or adapted from dt-core.
The code for lab 4 is in ./Code/Lab4. Lab 4 was concerned with three things:
- Intersection navigation
- Vehicle avoidance
- Vehicle following
The lab instructions can be found at ./Code/Lab4/lab4.pdf. See those
instructions for more information about what we actually did for the lab. To
run the code for the lab:
cd ./Code/Lab4/Part1
dts devel build -f -H MY_ROBOT.local
dts devel run -f -H MY_ROBOT.localFor my solution to lab 4, I adapted my code from lab 3. Hence, much code is taken or adapted from dt-core.
The code for my graduate student project is in ./Code/Project. This project
was concerned with predicting which apriltag a DuckieBot would see next when
following a set policy driving around DuckieTown.
This implementation borrows heavily from my implementation of Part 3 of Lab 3. To run the code for this project:
cd ./Code/Project/Code
dts devel build -f -H MY_ROBOT.local
dts devel run -f -H MY_ROBOT.localTo see these labs running in action, or for more information on these labs, see the corresponding post on my website.