Repository for the development of the JHS Autonomous Race Car Club's ROS Jetson Car (TX2) with RealSense D400

Check out system flowcharts: https://drive.google.com/open?id=1oScZmCizjCHx7lIW-BQ1HAR4U3CumyJK

• Before setup make sure to sudo apt-get update and sudo apt-get upgrade
• If running on a Desktop computer run catkin_make -DCATKIN_BLACKLIST_PACKAGES="realsense2_camera" in workspace
• If you want to run the realsense2 ROS node on a desktop use the realsense2_camera pkg in the drivers folder by copying it into a local catkin_ws
• Download Xbox One Controller Driver https://github.com/paroj/xpad (Try controller without downloading this first)
• On the user interface ("remote" control machine) add 192.168.1.100 racecar to the /etc/hosts
• When communicating with the jetson run export ROS_MASTER_URI=http://racecar:11311

• Install the intel realsense 2 SDK (needed to catkin_make the catkin workspace)
  • https://github.com/IntelRealSense/librealsense/blob/master/doc/distribution_linux.md
  • sudo apt-key adv --keyserver keys.gnupg.net --recv-key C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key C8B3A55A6F3EFCD
  • sudo add-apt-repository "deb http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo xenial main" -u
  • sudo apt-get install librealsense2
  • sudo apt-get install librealsense2-dev
  • sudo apt-get install librealsense2-dbg(May not be needed)
• cd ~/Desktop/jetson_car/jetsoncar_ws
• catkin_make (even if this fails)
• soruce devel/setup.bash
• rosdep install racecar_description
• Install Tensor Flow https://www.tensorflow.org/install/ (download GPU version if you have one)
  • sudo pip install tensorflow-gpu
  • If running python program fails with error ImportError: libcudnn.so.7: cannot open shared object file: No such file or directory see https://stackoverflow.com/questions/41991101/importerror-libcudnn-when-running-a-tensorflow-program but make sure to download proper version of cuDNN (version 9.0) (https://developer.nvidia.com/rdp/cudnn-download)
• Install Keras sudo pip install keras
• sudo pip install h5py

• Follow Nvidia Jetson setup and run as user nvidia (password nvidia)
• Check to make sure you are running L4T version 28.2.1 for use with convenience scripts
  • If you version is off download jetpack here https://developer.nvidia.com/embedded/downloads#?search=jetpack%203.3
  • Follow this tutorial on reflashing the Jetson TX2 https://www.youtube.com/watch?v=D7lkth34rgM
• clone https://github.com/jetsonhacks/installROSTX2.git to Desktop
• Follow the directions to install this repository https://github.com/jetsonhacks/installRealSense2ROSTX (makes sure to install realsense before doing the kernal patches)
• clone https://github.com/JHS-ARCC-Club/jetson_car.git to Desktop
• Run these scripts in this order: installLibrealsense.sh, buildPatchedKernal.sh, installROS.sh
• Install USB driver for some arduino nanos https://devtalk.nvidia.com/default/topic/1032862/jetson-tx2/a-guide-to-solve-usb-serial-driver-problems-on-tx2/
• Run the /scripts/jetson.sh script to setup network
• Setup pip and download keras and tensorflow for python
  • sudo apt-get install -y python-pip
  • pip install keras
  • sudo pip install --extra-index-url https://developer.download.nvidia.com/compute/redist/jp33 tensorflow-gpu `

• Update Apt Repositories
  • sudo apt-get update
  • sudo apt-get upgrade
• Install xbox drivers sudo apt-get install xboxdrv
• Disable ertm for bluetooth sudo bash -c "echo 1 > /sys/module/bluetooth/parameters/disable_ertm"
• Reboot Pi sudo reboot
• Enable bluetooth control sudo bluetoothctl
• Turn on agent
  • agent on
  • default-agent
• Turn on scanning scan on
  • This should print a list of bluetooth devices in range and their MAC Addresses

Explain how to run the automated tests for this system (travis CI)

Explain what these tests test and why

Give an example

Explain what these tests test and why (coveralls)

Give an example

Add additional notes about how to deploy this on a live system (docker)

• Dropwizard - The web framework used
• Maven - Dependency Management
• ROME - Used to generate RSS Feeds

Please read CONTRIBUTING.md for details on our code of conduct, and the process for submitting pull requests to us.

We use SemVer for versioning. For the versions available, see the tags on this repository.

• Michael Equi - Initial work

See also the list of contributors who participated in this project.

• README Tempalte source https://gist.github.com/PurpleBooth/109311bb0361f32d87a2
• Inspiration
• etc