kart_sw

ROS workspace for the UM-Driverless kart software stack.

Install (ROS 2 Humble)

Assumes Ubuntu 22.04 with ROS 2 Humble already installed and sourced.

./scripts/install_deps.sh

Build

source /opt/ros/humble/setup.bash
colcon build
source install/setup.bash

Startup (no hardware)

This launches just the teleop processing node; you can publish fake /joy input.

source /opt/ros/humble/setup.bash
source install/setup.bash
ros2 run joy_to_cmd_vel joy_to_cmd_vel --ros-args --params-file src/kart_bringup/config/teleop_params.yaml

ros2 topic echo /actuation_cmd

ros2 topic pub /joy sensor_msgs/msg/Joy "{axes: [0.0, 0.0, 0.0, 1.0, -1.0], buttons: [0,0,0,0,0,1]}"

Startup (with hardware)

Requires a joystick at /dev/input/js0 and the kart microcontroller on /dev/ttyTHS1.

ros2 launch kart_bringup teleop_launch.py

References

• Kart Docs: https://github.com/UM-Driverless/kart_docs
• Kart Docs site: https://um-driverless.github.io/kart_docs/
• ROS 2 installation: https://docs.ros.org/en/rolling/Installation.html
• ROS 2 Humble docs: https://docs.ros.org/en/humble/

Test Media

Pulled from https://github.com/UM-Driverless/driverless and stored locally at test_data/driverless_test_media.

YOLO Weights

Pulled from https://github.com/UM-Driverless/driverless and stored locally at models/perception/yolo/best_adri.pt.

YOLO Quick Test

Run YOLO on a test image or video and save annotated output.

python3 scripts/run_yolo_on_media.py \
  --source test_data/driverless_test_media/cones_test.png \
  --weights models/perception/yolo/best_adri.pt \
  --output outputs/yolo

First run will download the YOLOv5 code via Torch Hub and cache it locally.

Running ROS Nodes

Launch the image source and YOLO detector nodes on test media.

source /opt/ros/humble/setup.bash
colcon build --packages-select kart_perception
source install/setup.bash

ros2 launch kart_perception perception_test.launch.py \
  source:=test_data/driverless_test_media/cones_test.png \
  weights:=models/perception/yolo/best_adri.pt