This repo holds code for the final course project in Computational Introduction to Robotics, FA 2020. The code is authored by Amy Phung, Everardo Gonzalez, and Nathan Faber.

Project Website: https://everardog.github.io/ml_comprobofinal/

Dependencies:

• inputs (for joystick controller) pip install inputs
• Tensorflow pip install tensorflow
  • If you get an error message about cuda when importing, run this: sudo apt install nvidia-cuda-toolkit

Usage

• To record dataset: roslaunch ml_comprobo record_training_data
  • Args:
    • dodgeball_prefix default: "ball"
    • robot_name default: "mobile_base"
    • num_dodgeballs default: "2"
    • use_joystick default: "true"
  • When using the joystick:
    • press a to start recording and start ball spawner
    • press b to stop and save dataset
    • use the left joystick to drive robot forwards/backwards
  • When using the keyboard:
    • press s to start recording and start ball spawner
    • press spacebar to stop and save dataset
    • press i or . to drive forwards/backwards
• To train dataset: python3 train_LTSM.py
  • Double-check the file to ensure paths are set correctly
• To test dataset in gazebo: roslaunch ml_comprobo run_model.launch
  • Make sure the model arg is set correctly in the launch file

TODO:

• make velocity relative to robot coords
• split training and data recorder
• Add param to auto-start ball spawn