argos-research/autonomous-driving

title	author	institute	abstract
Team speedDreams (Group 03)	Alexander Reisner Alexander Weidinger David Werner	Technical University of Munich (TUM)	This repository contains the source code of 'Team speedDreams', which implements an autonomous parking scenario for the lil4 practical course.

Final Result

The result of our work can be seen in this short video:

Repository structure

.
+-- doc
|   +-- reports            // (contains all reports taken during the practical course)
|   |   +-- final          // (our final report)
|   +-- talks              // (contains all talks held during the pracitcal course)
|   |   +-- final          // (our final presentation)
|   |   +-- lightning      // (contains subfolders with the initials for each group member)
+-- ecu                    // (contains code for the ecus)
|   +-- autonomousParking  // (our autonomous parking ecu)
+-- genode                 // (the official genode 16.08)
+-- simulators             // (the collection of simulators in use)
|   +-- speed-dreams       // (also contains the code changes done to speed-dreams)
|   +-- sumo               // (was planned to be used in conjunction with the SimCoupler but was omitted for this practical course)
+-- tools                  // (additional tools or utility software)
|   +-- genode-world       // (genode-world repository of argos-research)
|   +-- protobuf           // (contains the protobuf message definitions of *State* and *Control*)
|   +-- QEMU-SA-VM         // (contains code for the S/A VM)
|   +-- SimCoupler         // (was planned to be used as module between SD2 and S/A VM but was omitted for this pracitcal course)
+-- Makefile               // (used in SA/VM)
+-- README.md              // (readme of this project)

Dependencies

• Mosquitto (https://mosquitto.org/), which is not provided by this repository
• Run time dependencies, which can be looked up in the respective directories of the simulators and genode
• Libboost (vers. 1.58 or higher)
• Protobuf (library and compiler in vers. 3)

Build instructions

• The repository consists of multiple submodules, which first need to be fetched via git submodule update --init.

Speed-dreams 2

In simulators/speed-dreams execute the following commands:

mkdir -p build
cd build
cmake ../ -DCMAKE_CXX_FLAGS=-fpermissive -DOPTION_PARKING=ON
make

SA/VM

cd genode/repos
ln -s ../../tools/genode-world world    # link the genode-world repository into the genode file structure
cd ../../
make jenkins_build_dir                  # creates a build directory, use the Makefile to configure different platforms, etc.
make toolchain                          # prepares the 16.08 toolchain of genode, used for the compilation process
make ports                              # prepares necessary library ports for genode
make vde                                # starts up a vde_switch and tap device

# Please make sure you have isohybrid installed, which is part of the syslinux-utils (Ubuntu)

ECU

• Please follow the instructions in SA/VM, but it's only necessary to do this process once (so don't redo it if you already did all the step in SA/VM).

Configuration

• One can adapt the address and port SD2 listens on for the QEMU SA/VM connection in simulations/speed-dreams/src/drivers/human/human.cpp
• For the SA/VM and ECU, one can adapt the configuration by using the *.run files in the respective directories

Run instructions

• Start a mosquitto server
• Start speed-dreams 2 by executing ./simulators/speed-dreams/build/games/speed-dreams-2
• Configure a race in speed-dreams to consist of 3 usr bots and 1 human player (use the espie track) and start it
• Start up the QEMU SA/VM by executing make -C build/genode-foc_x86_64/ run/savm (it will connect to speed-dreams)
• Start up the QEMU ECU by executing make -C build/genode-foc_x86_64/ run/ecu

Execute parking scenario

• In speed-dreams: press the 'enter' key and reduce the simulation time to 0.25 by pressing the '-' key two times (this may be unnecessary, depending on your configuration - if you're unsure, just use 0.25 and slowly increase the simulation speed with the '+' key until it becomes unresponsive)
• Use the provided mosquitto_pub by mosquitto to publish the go command: ./mosquitto_pub -h <ip-address> -p <port> -t state -m 'go; 1'
• The bot will now autonomously park, the controls will be reactivated once the car is done parking
• To abort the parking manoeuver, just publish go with value 0: ./mosquitto_pub -h <ip-address> -p <port> -t state -m 'go; 0'