The objective of this practice is to perform a PID reactive control capable of following the line painted on the racing circuit.

To launch the infrastructure of this practice, first launch the simulator with the appropriate scenario: gazebo simpleCircuit.world

Then you have to execute the academic application, which will incorporate your code: python2 ./follow_line.py FollowLineF1.yml

To carry out the practice, you have to edit the file MyAlgorithms.py and insert in it your code, which gives intelligence to the autonomous car.

MyAlgorithm.py

    def execute(self):
        #GETTING THE IMAGES
        imageLeft = self.sensor.getImageLeft()
        imageRight = self.sensor.getImageRight()

        # Add your code here
        print "Runing"

        #EXAMPLE OF HOW TO SEND INFORMATION TO THE ROBOT ACTUATORS
        #self.sensor.setV(10)
        #self.sensor.setW(5)

        #SHOW THE FILTERED IMAGE ON THE GUI
        self.setRightImageFiltered(imageRight)
        self.setLeftImageFiltered(imageLeft)

• cameraL.getImage() - to get the left image of the stereo pair
• motors.setV() - to set the linear speed
• motors.setW() - to set the angular velocity
• self.setRightImageFiltered() - allows you to view a debug image or with relevant information. It must be an image in RGB format (Tip: np.dstack())

https://www.youtube.com/watch?v=eNuSQN9egpA

• Base code made by Alberto Martín (@almartinflorido)
• Code of practice performed by Francisco Rivas (@chanfr)
• Gazebo models and worlds made by Francisco Pérez (@fqez)