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This uses the DonkeyCar python library: Donkeycar Updates & Examples
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use this:
python navigation.py driveto run donkeyCar with way-point navigation. -
requires Realsense T265 tracking camera to provide localization information.
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you can save current position as a way point (
x_buttonon xbox controller). -
you can save way points to a route file (
y_buttonon xbox controller). -
you can change waypoint target (
right_shoulderto target the next waypoint,left_shoulderto target the previous one, on xbox controller)- read the start menu to know the controls:
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the web control UI will display way points route, the tracked path and the pose of the car, like this:
add this to your .profile:
# xbox bt controller
sudo bash -c "echo 1 > /sys/module/bluetooth/parameters/disable_ertm"