Data collection

UPDATED 8/1/17: These are directions for controlling the car with keyboard inputs and recording the commands along with Vicon readings. Make sure to manually find and substitute JETSON_IP and REMOTE_IP first. Can use hostnames: JETSON_IP=tegra-ubuntu.local, REMOTE_IP=ubuntu.local

On remote machine running ROS (e.g. Nicole's Macbook with Ubuntu VM):

export ROS_MASTER_URI=http://REMOTE_IP:11311; export ROS_IP=REMOTE_IP; roslaunch vicon_bridge vicon.launch
ssh ubuntu@JETSON_IP; export ROS_MASTER_URI=http://REMOTE_IP:11311; export ROS_IP=JETSON_IP; rosrun week1tutorial talker.py
ssh -X ubuntu@JETSON_IP; export ROS_MASTER_URI=http://REMOTE_IP:11311; export ROS_IP=JETSON_IP; rosrun week1tutorial keyboard.py
ssh ubuntu@JETSON_IP; export ROS_MASTER_URI=http://REMOTE_IP:11311; export ROS_IP=JETSON_IP; rosrun rosserial_python serial_node.py /dev/ttyACM0
export ROS_MASTER_URI=http://REMOTE_IP:11311; export ROS_IP=REMOTE_IP; rosbag record -O [name of file] [select topic names or record everything]

3/12/17: Record steering inputs and video from ZED camera for first iteration of neural network steering controller

Record laps in CSL second floor south hallway, with 3 repetitions of 10 different scenes (where two people will be static obstacles in different positions). We will manually drive the car to perform the laps while maneuvering around the people.

Launch teleop app from remote machine.
Open new terminal: rosbag record -O [name of file] [topic1] [topic2]
After each trial run, kill the process.
Repeat 2-3 for each run, ensuring that file names are unique and not overwritten.
Once all the rosbag files are collected, run the export.launch file to export video camera frames and steering inputs to external non-bag files. (This step takes a long time, but is done "offline")

Next steps: set up VICON system and record GPS coordinates and steering inputs (doing step input tests) in order to system ID a car model (next weekend)

Interfacing with VICON:

Install Bo's ROS package: https://github.com/bo-rc/vicon_bridge on remote machine

Issue with building Bo's package on the Jetson: unable to build target 'testclient' because "skipping incompatible {path}/libViconDataStreamSDK_CPP.so when searching for -lViconDataStreamSDK_CPP"

Resolved: Vicon API only supported on Intel architectures. Cannot run on Jetson :( however, can directly get data from Vicon server by writing custom code to receive UDP packets on Jetson (and send from the Vicon server). Bo is working on a version of this for his drone using Mavlink protocol

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