Changes between Version 22 and Version 23 of Other/Summer/2025/self-driving
- Timestamp:
- Jun 18, 2025, 9:29:37 PM (5 days ago)
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Other/Summer/2025/self-driving
v22 v23 24 24 [https://docs.google.com/presentation/d/1NL-Xl_2XD7dQo6XJMo8_wsapmv6N-sxQl58-IZ-0_L0/edit?slide=id.p#slide=id.p Week 3 slides]// 25 25 26 == Connecting to RASCAL 26 == Week 4 27 Learned how to train a model[[BR]] 28 Trained and tested the model on simple paths[[BR]] 29 \\ 30 [https://docs.google.com/presentation/d/10KDlyMXHnCqYHTe5A6nhevLICf3jup91HIhf3qXCt6U/edit?slide=id.g369586f805a_0_10#slide=id.g369586f805a_0_10 Week 4 slides]// 31 32 == Connecting to Rascal 27 33 First connect to Zerotier if you're using a personal computer. (If you are not using a personal computer, then plug the car directly into a monitor to access the car). 28 34 1. Sign into Zerotier under the account **rascalstonesdc-at-gmail.com** password: **si2022sdc**[[BR]] 29 35 2. Connect to the network: rascalstonesdc's 1st network **(ID: d3ecf5726d1a9fcd)**[[BR]] 30 3. Now you can open a terminal and connect to the IP address of the RASCALusing the command: **ssh rascal@10.244.114.238[[BR]]**36 3. Now you can open a terminal and connect to the IP address of the rascal using the command: **ssh rascal@10.244.114.238[[BR]]** 31 37 4. Next, run the command: **roslaunch rascal pure_pursuit.launch** to launch all the nodes[[BR]] 32 38 5. In a web page type **10.244.114.238:5000** to open the web display where you can record and edit data for training[[BR]] … … 37 43 2. Use the joystick or keys on the keyboard (wasd) to move the car around[[BR]] 38 44 3. Press **bagrecorder** again to stop recording [[BR]] 39 4. Open data **opt/upcar/dataProcessing** in the terminal to access all recorded sessions[[BR]]45 4. Open data **opt/upcar/dataProcessing** and type **python bag2AllData.py** in the terminal to access all recorded sessions[[BR]] 40 46 5. Select the number that you want to download (should be the most recent one)[[BR]] 41 47 6. After it finishes downloading you can type the command: **roslaunch rascal sim.launch** which will upload that session to the web display[[BR]] 42 48 7. In the web display you can play the video to see what the camera recorded (you might need to refresh the page to see the session come up)[[BR]] 43 49 8. You can now edit the data that will be used for training[[BR]] 50 9. To save data, run the **data_loader/smoothen** command 51 52 ==Training Rascal 53 We used the fisheye model to train on [[BR]] 54 1. Open a new terminal and connect to the rascal server's IP address by using this command: **ssh rascaltrain@10.244.176.240** [[BR]] 55 2. Open **upcar/dataProcessing** and type **./copyFromCar.sh** which will get the files from the car and bring them over to the server [[BR]] 56 3. It will ask you to select a host. Choose **1) rascal@172.24.114.238** which is the car's IP address [[BR]] 57 4. If it asks for a password it's always **si2022sdc** [[BR]] 58 5. It will ask you which sessions you want to copy over (pick the session version of the files you want that says smooth) [[BR]] 59 6. If you go to sessions (**cd sessions**) and type **ls** your chosen files should be listed there [[BR]] 60 7. Go back to **upcar** and move your data to rascaltraining/data: **mv dataProcessing/sessions/<your file name here> rascaltraining/data [[BR]] 61 8. If you go into **rascaltraining/data** you should see your file listed [[BR]] 62 9. Go back to **rascaltraining** and type the command: **python trainModel.py -m fisheye --center_width 30 --num_bins 3 --use_labels 1.0 -s labels** [[BR]] 63 10. Now your model is being trained [[BR]] 64 11. To stop training press enter [[BR]] 65 12. Remember to stop training when the validation loss doesn't seem to be decreasing by a significant amount anymore to avoid overfitting [[BR]] 66 13. To push your newly made model to gitlab, go to **cd savedModels** and type **git add -f <your model number here>** [[BR]] 67 14. Next type the command **git commit -m "<give it a name>"** [[BR]] 68 15. Next type the command **git push origin main** [[BR]] 69 16. Finally, back in the car's terminal type **git pull origin main** [[BR]] 70 71 You're now ready to start testing! [[BR]]
