Master and Slave Commands¶

Master Side Commands¶

Start Master Node¶

roscore

VISO¶

Localisation¶

1. roslaunch gscam raspicam.launch
2. rosrun camera_calibration cameracalibrator.py --size 8x6 --square 0.024 image:=/raspicam/image_raw
3. ROS_NAMESPACE=raspicam rosrun image_proc image_proc 
4. rosrun viso2_ros mono_odometer image:=/raspicam/image_rect
5. rostopic echo /mono_odometer/pose

ORB SLAM2¶

1.rosrun ORB_SLAM2 Mono PATH_TO_VOCABULARY PATH_TO_SETTINGS_FILE
2.rosrun image_view image_view image:=/camera/image_raw

ObjectDetection Node¶

1.rosrun image_view image_view image:=/objectdetection/view
2.rosrun finalyearproject clienTest.py --prototxt MobileNetSSD_deploy.prototxt --model MobileNetSSD_deploy.caffemodel --montageW 2 --montageH 2

Slave Side Commands¶

Calibrate¶

donkeycar calibrate channel=0

Transfer files between master and slave¶

rsync -rv  --partial pi@<your_pi_ip_address>:~/mycar/data/  ~/mycar/data/

Train Command in google colab¶

python ~/mycar/manage.py train --tub <tub folder names comma separated> --model ./models/mypilot.h5

Predict Throttle and steering(Autonomous mode)¶

python ~/mycar/manage.py train --model ~/mycar/models/mypilot.h5

Donkey car Library Util Commands¶

Tub plot and Hitogram¶

donkey tubplot <tub_path> [--model=<model_path>]
donkey tubhist <tub_path> --rec=<"user/angle">

CNN Activation view¶

donkey cnnactivations [--tub=<data_path>] [--model=<path to model>]
donkey cnnactivations --model models/model.h5 --image data/tub/1_cam-image_array_.jpg