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GitHub Repository Access Link

Assignment 3: JetBot line Following & Object Detection

YOLOv5: Duckietown recognition model training

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Task: Line Following & Object Detection

The aim of the project is to deploy the programmes on the JetBot robot to enable it to perform patrol and object detection tasks. There are two versions of the programmes: the Python version and the ROS version.

• The Python version programme is designed to run in Python 3.6 environment.
• The ROS version programme is implemented as a series of ROS nodes that can be executed individually using rosrun or run simultaneously by running a launch file using roslaunch.

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Execution Commands

Python Scripts

The Line Following + TOF programme to accomplish tasks of line following and obstcale detection.

cd ~
cd Jetbotpy/jetbot/
python3.6 LineFollower+TOF.py

The object detection programme to accomplish task of object recognition.

cd ~
cd Jetbotpy/yolov5/
python3.6 detect.py

ROS Nodes

The ROS node initialization.

roscore

The Robot_Movement.py programme defines a ROS node that subscribles to topics from publishers and controls the movement of the Jetbot.

rosrun jetbot Robot_Movement.py

The LF_Publisher.py programme defines a ROS node that publishes the line following commands.

rosrun jetbot LF_Publisher.py

The TOF_Publisher.py programme defines a ROS node that publishes the TOF commands.

rosrun jetbot TOF_Publisher.py

The OR_Publisher.py programme defines a ROS node that publishes the Object-Detection commands.

rosrun jetbot OR_Publisher.py

ROS Launch File

ROS launch command execution.

roslaunch jetbot jetbot.launch

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Structure of the Repository

📦Assignment 3: Jetbot 
 ┣ 📂jetbot
 ┣ 📂Jetbotpy
 ┣ 📂Videos
 ┃ ┣ 📂Zehao
 ┃ ┃ ┣ 📂Images
 ┃ ┃ ┣ 📜black line following video.mp4
 ┃ ┃ ┣ 📜line following with object recognition.mp4
 ┃ ┃ ┣ 📜OR modify frame rate.mp4
 ┃ ┃ ┣ 📜OR modify image size.mp4
 ┃ ┃ ┣ 📜OR_Publisher.mp4
 ┣ 📜LICENSE
 ┗ 📜README.md

Folder / File	Description
📂jetbot/	The ROS version programme which can be run through rosrun and launch file.
📂Jetbotpy/	The Python version programme which can be run in Python3.6 environment.
📂/Video/Zehao/Image/	The original image used in the report.

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Contribution

Name	Line Following	Obstcale Detection	Object Recognition	ROS Implementation	Code integration	GitHub Repo Maintenance	Attendance
Alhuwayji, Abdullah Ahmed A	✘	✘	✘	✘	✘	✘	✘
Du, Yuang	✔	✔	✘	✔	✔	✔	✔
Luo, Yanbin	✘	✘	✘	✘	✘	✘	✔
Stoian, Geanina Nicoleta	✔	✔	✘	✘	✔	✘	✔
Ye, Zehao	✘	✘	✔	✘	✔	✔	✔