There are two core executables, drive.py and telemetryserver.py

telemetryserver.py

• Provides interface to archived and live telemetry at http://localhost:7007.
• Listens for incoming telemetry from vehicle(s)

drive.py

• Executes autonomous driving on-board a vehicle, or,
• Simulates autonomous driving based on archived telemetry

Basic Usage:

• python telemetryserver.py # on laptop/workstation, now browse http://localhost:7007
• python drive.py config.ini --telemetry SERVER

For advanced usage check command line options on drive.py

Features

• Fully on-board compute pipeline.
• Live telemetry streamed to remote server.
• Designed for experimentation: tunable via config.ini's or replace entire pipeline stages
• Generalized camera / perception / vehicle_dynamics / actuator pipeline.
• Extensible telemetry - just add key:value pairs to the dictionary and they'll show in UI

Supported Vehicles:

• "Newton" 2WD differential drive with caster wheel. See config-newton.ini
• "Euler" 1/10th RC car with servo steering and ESC. See config-euler.ini

"Newton" Notes

• Install and load arduino-driver/ on the Arduino using platformio.

Dependencies:

• Python 2.7
• Numpy
• PiCamera
• OpenCV
• docopt
• websocket-client

Optional Dependencies:

• pygame (for manual_drive.py on host)