Lab repository for a course CMPUT 412 @ University of Alberta, made for recording the lab activities throughout the semester (W23).

• Added all the final project codes under directory final_project.
• File/directory descriptions in final_project:
  • final_project: External repo which contains the codes for the nodes which accomplishes all the tasks specified for final project.

• Added all the Exercise 5 codes under directory exercise5.
• File/directory descriptions in exercise5:
  • l5: External repo which contains the codes for the nodes which runs on duckiebot (drive and apriltag).
  • l5_pred: External repo which contains the codes for a node which runs on laptop (digit prediction).
  • train.ipynb: Notebook for training the original model.

NOTE!!!!: For l5_pred, please refer to branch v3, not the default v2 branch!!!!

• Added all the Exercise 4 codes under directory exercise4.
• File/directory descriptions in exercise4:
  • l4: External repo which contains all the codes for exercise 4.

• Added all the Exercise 3 codes under directory exercise3.
• File/directory descriptions in exercise3:
  • l3: External repo which contains all the codes for exercise 3.
  • frames_before.pdf: PDF file containing the transform tree graph before attaching odometry frame to footprint frame.
  • frames_after.pdf: PDF file containing the transform tree graph after attaching odometry frame to footprint frame.

• Added all the Exercise 2 codes under directory exercise2.
• File/directory descriptions in exercise2:
  • l2p2: External repo which contains the code for exercise 2 part 1.1 and 1.2.
  • if_bag_best.bag: Bag file with respect to initial robot frame.
  • wf_bag_best.bag: Bag file with respect to world frame.

• Added all the Exercise 1 codes under directory exercise1.
• File/directory descriptions in exercise1:
  • dt-sample-program/: Sample Python environment for completing section B2, created from Duckietown template. Submodule of this repo (i.e. link to another repo).
  • Dockerfile: Dockerfile for building a container to do the task on Duckiebot.
  • color_detector.py: Python file to run in container. Communicate with camera on a Duckiebot and process the given image (mainly averaging colors).
  • requirements.txt: Usually used for building a custom Python environment in container. In this lab, we did not use it as all the requirements were included in a base image.
• Note: For dt-sample-program, please refer to v2 branch for updated codes.

Haruto Tanaka ([email protected])

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