2024 SEA:ME Hackathon

During this hackathon, your mission is to develop a autonomous driving system based on JetRacer Pro. We'll provide you a Nvidia Jetson nano embedded board.

https://www.waveshare.com/wiki/JetRacer_Pro_AI_Kit

Step 0: Assemble your JetRacer Pro

Jetracer_pro_Assembly_EN.pdf

Step 1: Install Image

1. Download the JetRacer image and unzip it.

[https://drive.google.com/file/d/1ZBdqrwhW2n1uN8rughF7Puw98o76kUcH/view?usp=sharing]

2. Download Etcher.

https://github.com/balena-io/etcher/releases/download/v1.19.21/balenaEtcher-1.19.21.Setup.exe

3. Write the image using Etcher.

Step 2: Initial setup

1. Insert SD card to SD card slot of Jetson Nano (the slot is on the back of Jetson Nano module)
2. Power on JetRacer carrier board
3. Connect WIFI
4. Run the following commands on the terminal

cd ~/jetracer
git checkout ws/pro
sudo python3 setup.py install
sudo reboot

5. Configure Power Mode

You need to launch a new Terminal and enter the following commands to select 5W power mode.

sudo nvpmodel -m1

6. Resize disk partition

sudo apt update
sudo apt install gparted
sudo gparted

Resize partition to maxsize

Step 3. Fix the apt upgrade error

sudo apt update
sudo apt upgrade

If you see this error

Execute the lines below

sudo mv /var/lib/dpkg/info/ /var/lib/dpkg/info_old/
sudo mkdir /var/lib/dpkg/info
sudo apt update
sudo apt -f install
sudo mv /var/lib/dpkg/info/* /var/lib/dpkg/info_old/
sudo rm -rf /var/lib/dpkg/info
sudo mv /var/lib/dpkg/info_old/ /var/lib/dpkg/info/
sudo apt update
sudo apt upgrade

Step 4. Install ROS (melodic)

http://wiki.ros.org/melodic/Installation/Ubuntu

1. Setup your sources.list

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

2. Setup your keys

sudo apt install curl
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -

3. Installation

sudo apt update   
sudo apt install ros-melodic-desktop-full

4. Environment setup

echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
source ~/.bashrc
source /opt/ros/melodic/setup.bash

5. Dependencies for building packages

python 2.7

sudo apt install python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential
sudo apt install python-rosdep
sudo rosdep init
rosdep update

python3(essential)

sudo apt install python3-pip python3-all-dev python3-rospkg
sudo apt install ros-melodic-desktop-full --fix-missing

If you make a python ros package, you should add this line at the top of python script

#!~/usr/bin/env python3

6. Create a ROS Workspace

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
catkin_init_workspace
cd ~/catkin_ws
catkin_make

python3 (optional)

catkin_make -DPYTHON_EXECUTABLE=/usr/bin/python3

alias command setup

sudo gedit ~/.bashrc

Add the below

++ source ~/catkin_ws/devel/setup.bash
++ alias cw='cd ~/catkin_ws'
++ alias cs='cd ~/catkin_ws/src'
++ alias cm='cd ~/catkin_ws && catkin_make'
++ alias cb='source ~/catkin_ws/devel/setup.bash'
++ alias sb='source ~/.bashrc'

source ~/.bashrc

ROS packages build

cm

Step 5. Install ROS Packages

Joy controller

1. Check controller connection in https://hardwaretester.com/gamepad

#Waiting for connection

#Connection successful

2. Install the package & Run

sudo apt install ros-melodic-teleop-twist-joy
rosrun joy joy_node

3. Check the ros topic

rostopic echo /Joy

Usb camera

sudo apt install ros-melodic-usb-cam

Step 6. Edit OpenCV settings

sudo gedit /opt/ros/melodic/share/cv_bridge/cmake/cv_bridgeConfig.cmake

In line 96

-- set(_include_dirs "include;/usr/include;/usr/include/opencv")
++ set(_include_dirs "include;/usr/include;/usr/include/opencv4") 

In line 119

-- set(libraries "cv_bridge;/usr/lib/aarch64-linux-gnu/libopencv_core.so.3.2.0;/usr/lib/aarch64-linux-gnu/libopencv_imgproc.so.3.2.0;/usr/lib/aarch64-linux-gnu/libopencv_imgcodecs.so.3.2.0") 
++ set(libraries "cv_bridge;/usr/lib/aarch64-linux-gnu/libopencv_core.so.4.1.1;/usr/lib/aarch64-linux-gnu/libopencv_imgproc.so.4.1.1;/usr/lib/aarch64-linux-gnu/libopencv_imgcodecs.so.4.1.1") 

Check the settings

cd ~/catkin_ws/src
git clone https://github.com/AveesLab/sea-me-hackathon-2024.git
cd ../
catkin_make

roscore
rosrun opencv_test opencv_test

Step 7. Use arduino ROS

1. install ros package

sudo apt install ros-melodic-rosserial ros-melodic-rosserial-arduino

2. download Arduino

Install this file

• https://downloads.arduino.cc/arduino-1.8.19-linuxaarch64.tar.xz?_gl=1*cef7fs*_ga*ODQ1NTYxNzQ4LjE3MTgyNjE2NDc.*_ga_NEXN8H46L5*MTcxODI2MTY0Ni4xLjEuMTcxODI2MjkzMS4wLjAuMTcwNDA3OTI1MA

Extract arduino-1.8.19-linuxaarch64.tar in Downloads directory

cd ~/Downloads
tar -xvf arduino-1.8.19-linuxaarch64.tar
cd ~/Downloads/arduino-1.8.19
sudo sh install.sh

After connect arduino and Jetson nano, check connection

ls -l /dev/ttyACM0

Authorize

sudo usermod -a -G dialout jetson
sudo chmod a+rw /dev/ttyACM0

Install rosserial library

cd ~/catkin_ws/src/sea-me-hackathon-2024/ultrasonic_ros
arduino ultrasonic_ros.ino

Fix the code

cd ~/Arduino/libraries/Rosserial_Arduino_Library/src/ros
gedit msg.h

-- #include <cstring>
++ #include <string.h>
-- std::memcpy
++ memcpy

Step 8. Verification

roscore
roslaunch usb_cam usb_cam-test.launch
rosrun rosserial_python serial_node.py _port:=/dev/ttyACM0 _baud:=9600
rosrun rosrun joy joy_node
rosrun control actuator.py
rosrun todo todo

You can see this picture