Instructions and commands for running simulation
updated
Get sample data for ml training
roslaunch ackermann_vehicle_gazebo ackermann_robot_with_arena_conversion_mltrain.launch folder:=/cleantrack1
É obrigatório o argumento folder:=/nome
O folder tem de ser criado dentro da pasta “data”
Lança tudo.
- O mundo gazebo
- O carro
- O conversor twist para ackermann
- O node de captura de dados
- O node de rqt para conduzir o carro para as voltas de treino
Training ml model with sample data
roslaunch robot_core training.launch folder:=/cleantrack1 model:=cleantrack1.h5
São obrigatórios os argumentos:
- folder:=/nome (não esquecer a barra no inicio)
- model:=nome.h5 (Não esquecer a extensão .h5)
Driving with ml model
Just drive, no signals.
roslaunch ackermann_vehicle_gazebo ackermann_robot_with_arena_conversion_mlsolo.launch model:=cleantrack1.h5
Drive with two signals
roslaunch ackermann_vehicle_gazebo ackermann_robot_with_arena_conversion_mlsignal.launch model:=cleantrack1.h5
Não esquecer a extensão .h5
old
Get sample data for ml training
Run the commands (on each terminal)
roslaunch ackermann_vehicle_gazebo ackermann_robot_with_arena_conversion.launch
rqt
rqt configuration
Plugins > Robot tools > Robot Steering (select namespace/ topic cmd_vel)
Plugins > Visualization > Image Viewer (select namespace/ topic image_raw)
Don’t forget to set the velocity to the fixed value (each set need the same linear velocity, write it down to use in later manual driving)
run ml sampling collect node
roslaunch robot_core write.launch
May run with arguments
roslaunch robot_core write.launch arg:=value
args
The base_folder, if not exists, need to be created inside the data folder on robot core package
Drive the car manually two laps
Ctrl+C to end the the nodes.
Training ml model with sample data
roslaunch robot_core training.launch
May run with arguments
roslaunch robot_core training.launch arg:=value
args
Driving with ml model
Run the commands (on each terminal)
roslaunch ackermann_vehicle_gazebo ackermann_robot_with_arena_conversion.launch
roslaunch robot_core driving.launch
May run with arguments
roslaunch robot_core driving.launch arg:=value
args
OLD INFO
RUN ML TASKS
A) Robot spawn inside automec contest world and twist to ackerman converter node
roslaunch ackermann_vehicle_gazebo ackermann_robot_with_arena_conversion.launch
Run ml agent to store data to learn
RUN: A) before
cd /catkin_ws/src/AutoMec-AD/robot_core/
python3 write_data.py
teleop with rqt
RUN: rqt
Plugins > Robot tools > Robot Steering (select namespace/ topic cmd_vel)
Plugins > Visualization > Image Viewer (select namespace/ topic image_raw)
run ml tranings_simulation
cd /catkin_ws/src/AutoMec-AD-dev/robot_core/src/cnn/models_python/
python3 TrainingSimulation.py
run ml driving
RUN: A) before
cd /catkin_ws/src/AutoMec-AD-dev/robot_core/src/cnn/driving/
python3 ml_driving-dave.py
warning
Node::Advertise(): Error advertising topic [/ackermann_vehicle/joint_cmd]. Did you forget to start the discovery service?