jetbot_sim

This repository contains the packages required for lane following and object avoidance simulation of jetbot.

Lane Following

• For running the lane following simulation, follow these steps:
  • Clone the jetbot_sim package.
  • For uploading the track in gazebo, open the file world/lane_follower.world and then in the lines 131 & 151 change the path to the Part1.stl file according to your system.
  • Build the package.
  • Run the following commands:
    • roslaunch jetbot_sim gazebo.launch
    • roslaunch jetbot_sim lane_following.launch
  • Demo Video

Object Avoidance

• For running the object avoidance using neural networks simulation, follow these steps:
  • Install pytorch on your system. (Intructions can be found from this link : https://www.liquidweb.com/kb/how-to-install-pytorch-on-ubuntu/)
  • If you want to run the model on your system's gpu then also install cuda.
  • Clone the jetbot_sim package.
  • Download the pretrained model file from this link: https://drive.google.com/file/d/1UsRax8bR3R-e-0-80KfH2zAt-IyRPtnW/view
  • Move the download pretrained model file to jetbot_sim/scripts folder.
  • For running the model on gpu uncomment the lines 29-31 & 84 and comment out the line 28 in scripts/object_avoidance.py file.
  • For uploading the model in script, open the file scripts/object_avoidance.py and then in the lines 28 or 29 change the path to the best_model.pth file according to your system.
  • Build the package.
  • Run the following commands:
    • roslaunch jetbot_sim object_avoidance_config.launch
    • rosrun jetbot_sim object_avoidance.py
  • Demo Video