Merge pull request #54 from AutomecUA/dev

Dev

Author: brunomonteiro98

.gitignore

@@ -109,6 +109,7 @@ venv/
 ENV/
 env.bak/
 venv.bak/
+automec_env/
 
 # Spyder project settings
 .spyderproject
@@ -132,8 +133,9 @@ dmypy.json
 .vscode
 
 
-# images
-*.jpg
+# databases and models
+cnn/data/**
+cnn/models/**
 
 # csv
 *.csv

README.md

@@ -84,10 +84,9 @@ And add the previous line to the end of your file. Same procedure if you use zsh
 To Save press Cntrl+O , Enter . Cntrl+X to exit
 
 # Ackerman dependencies
-    sudo apt install ros-noetic-ros-controllers
-    sudo apt-get install ros-noetic-ackermann-msgs
+    sudo apt-get install ros-noetic-ros-controllers ros-noetic-ackermann-msgs
 
-# Launch woth ackerman
+# Launch with ackerman
     roslaunch ackermann_vehicle_gazebo ackermann_robot_with_arena_conversion.launch
 
 # Running the simulation enviroment

cnn/launch/training1.launch

@@ -5,6 +5,8 @@
   <arg name="batch_size" default="32"/>
   <arg name="folder" default="set1"/>
   <arg name="model" default="model1.h5"/>
+  <arg name="width" default="320"/>
+  <arg name="height" default="160"/>
 
   <!--
   <arg name="folder" default=""/>
@@ -17,6 +19,8 @@
       <param name="base_folder" value="$(arg folder)"/>
       <param name="modelname" value="$(arg model)"/>
       <param name="batch_size" value="$(arg batch_size)"/>
+      <param name="width" value="$(arg width)"/>
+      <param name="height" value="$(arg height)"/>
     </node>
   <!--</group>-->
 

cnn/launch/write.launch

@@ -2,18 +2,29 @@
 
   <arg name="image_raw_topic" default="/ackermann_vehicle/camera/rgb/image_raw"/>
   <arg name="twist_cmd_topic" default="/cmd_vel"/>
+  <arg name="vel_cmd_topic" default=""/>
   <arg name="folder" default="set1"/>
   <arg name="rate" default="30"/>
   <arg name="width" default="320"/>
   <arg name="height" default="160"/>
+  <!-- only for yaml file -->
+  <arg name="cam_height" default=""/>
+  <arg name="cam_angle" default=""/>
+  <arg name="env" default=""/>
+  <arg name="vel" default="0"/>
 
     <node name="cnn_write" pkg="cnn" type="write.py" output="screen" required="true">
       <param name="image_raw_topic" value="$(arg image_raw_topic)"/>
       <param name="twist_cmd_topic" value="$(arg twist_cmd_topic)"/>
+      <param name="vel_cmd_topic" value="$(arg vel_cmd_topic)"/>
       <param name="folder" value="$(arg folder)"/>
       <param name="rate" value="$(arg rate)"/>
       <param name="width" value="$(arg width)"/>
       <param name="height" value="$(arg height)"/>
+      <param name="cam_height" value="$(arg cam_height)"/>
+      <param name="cam_angle" value="$(arg cam_angle)"/>
+      <param name="env" value="$(arg env)"/>
+      <param name="vel" value="$(arg vel)"/>
     </node>
 
 </launch>