OHMC2019 Software instructions

Overview

From a software perspective, the DonkeyCar (Raspberry Pi) is self-contained ... driving, data acquisition (for training) and ultimately self-driving are all performed with on-board software. The provided micro-SD card already has all the required software pre-installed, as well as two pre-training A.I / Machine Learning models. The DonkeyCar software includes a web-server that provides a web interface that works on both desktop and mobile web browsers (great for driving).

Your laptop will be required to perform training of the Neural Network ... using the data acquired on the DonkeyCar. This means that Python software will need to be installed, e.g TensorFlow (Machine Learning framework).

Software installation: Laptop / Desktop

• apt-get install -y virtualenv # Note: You may be using a different software installer
• mkvirtualenv donkeycar -p python3
• pip install tensorflow==1.8.0

• cd $HOME
• git clone https://github.com/autorope/donkeycar
• pip install -e ./donkeycar

Software installation: Raspberry Pi

Your DonkeyCar (Raspberry Pi) is already pre-installed. This section is for reference only.

• sysctl -w net.ipv6.conf.all.disable_ipv6=1 # Reconnect via ssh afterwards
• sysctl -w net.ipv6.conf.default.disable_ipv6=1

• apt-get update
• apt-get upgrade
• apt-get install -y vim git mosquitto-clients
• apt-get install -y virtualenv build-essential python3-dev gfortran libhdf5-dev libatlas-base-dev libopenjp2-7-dev libtiff5

• apt-get install -y i2c-tools
• i2cdetect -y 1

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   70: 70 -- -- -- -- -- -- --

• mv env env.donkeycar
• virtualenv env -p python3
• pip install tensorflow==1.8.0
• pip install adafruit-pca9685
• pip install picamera

Finding your car on the network

Your DonkeyCar (Raspberry Pi) has been pre-configured to connect to the LCA2019 network. But, which IP address ?

Every car has a unique hostname, from ohmc_01 to ohmc_32. The micro-SD card adapter is labeled with your car name.

However, that still isn't enough to find your car.

So, there is a cron job that every minute sends an MQTT message to test.mosquitto.org with your car's name, IP address and a timestamp.

Install an MQTT client, as follows ...

• apt-get install mosquitto-clients

Use the following command to read the MQTT messages ...

• mosquitto_sub -h test.mosquitto.org -t 'ohmc/#' -v

 ohmc/ohmc_01 10.193.2.69 Mon 11 Jun 07:08:01 UTC 2018