important small documentary updates

- rewrote readme for ros.
- updated some script headers.
- other small changes.

.gitattributes

@@ -1,3 +0,0 @@
-detection/traffic-light/scripts/ckpt/tiny-yolo-udacity-8987.data-00000-of-00001 filter=lfs diff=lfs merge=lfs -text
-steering/weights/own/trained-nvd-v7-c8.h5 filter=lfs diff=lfs merge=lfs -text
-src/detection/traffic-light/scripts/ckpt/tiny-yolo-udacity-8987.data-00000-of-00001 filter=lfs diff=lfs merge=lfs -text

.travis.yml

@@ -25,6 +25,7 @@
 # Travis environment variables in general.
 #
 # Author: Felix Duvallet <[email protected]>
+# Modified by: Neil Nie <[email protected]>
 
 # NOTE: The build lifecycle on Travis.ci is something like this:
 #    before_install
@@ -78,43 +79,44 @@ before_install:
   - sudo rosdep init
   - rosdep update
 
+# >>>>>>>>>>>>>>>> travis doesn't work from here on >>>>>>>>>>>>>>>>>>>>>>>>>>
 # Create a catkin workspace with the package under integration.
-install:
-  - mkdir -p ~/catkin_ws/src
-  - cd ~/catkin_ws/src
-  - catkin_init_workspace
-  # Create the devel/setup.bash (run catkin_make with an empty workspace) and
-  # source it to set the path variables.
-  - cd ~/catkin_ws
-  - catkin_make
-  - source devel/setup.bash
-  # Add the package under integration to the workspace using a symlink.
-  - cd ~/catkin_ws/src
-  - ln -s $CI_SOURCE_PATH/ros .
-
-# Install all dependencies, using wstool first and rosdep second.
-# wstool looks for a ROSINSTALL_FILE defined in the environment variables.
-before_script:
-  # source dependencies: install using wstool.
-  - cd ~/catkin_ws/src
-  - wstool init
-  - if [[ -f $ROSINSTALL_FILE ]] ; then wstool merge $ROSINSTALL_FILE ; fi
-  - wstool up
-  # package depdencies: install using rosdep.
-  - cd ~/catkin_ws
-  - rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO
-
-# Compile and test (mark the build as failed if any step fails). If the
-# CATKIN_OPTIONS file exists, use it as an argument to catkin_make, for example
-# to blacklist certain packages.
+#install:
+#  - mkdir -p ~/catkin_ws/src
+#  - cd ~/catkin_ws/src
+#  - catkin_init_workspace
+#  # Create the devel/setup.bash (run catkin_make with an empty workspace) and
+#  # source it to set the path variables.
+#  - cd ~/catkin_ws
+#  - catkin_make
+#  - source devel/setup.bash
+#  # Add the package under integration to the workspace using a symlink.
+#  - cd ~/catkin_ws/src
+#  - ln -s $CI_SOURCE_PATH/ros .
 #
-# NOTE on testing: `catkin_make run_tests` will show the output of the tests
-# (gtest, nosetest, etc..) but always returns 0 (success) even if a test
-# fails. Running `catkin_test_results` aggregates all the results and returns
-# non-zero when a test fails (which notifies Travis the build failed).
-script:
-  - source /opt/ros/$ROS_DISTRO/setup.bash
-  - cd ~/catkin_ws
-  - catkin_make $( [ -f $CATKIN_OPTIONS ] && cat $CATKIN_OPTIONS )
-  # Run the tests, ensuring the path is set correctly.
-  - source devel/setup.bash
+## Install all dependencies, using wstool first and rosdep second.
+## wstool looks for a ROSINSTALL_FILE defined in the environment variables.
+#before_script:
+#  # source dependencies: install using wstool.
+#  - cd ~/catkin_ws/src
+#  - wstool init
+#  - if [[ -f $ROSINSTALL_FILE ]] ; then wstool merge $ROSINSTALL_FILE ; fi
+#  - wstool up
+#  # package depdencies: install using rosdep.
+#  - cd ~/catkin_ws
+#  - rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO
+#
+## Compile and test (mark the build as failed if any step fails). If the
+## CATKIN_OPTIONS file exists, use it as an argument to catkin_make, for example
+## to blacklist certain packages.
+##
+## NOTE on testing: `catkin_make run_tests` will show the output of the tests
+## (gtest, nosetest, etc..) but always returns 0 (success) even if a test
+## fails. Running `catkin_test_results` aggregates all the results and returns
+## non-zero when a test fails (which notifies Travis the build failed).
+#script:
+#  - source /opt/ros/$ROS_DISTRO/setup.bash
+#  - cd ~/catkin_ws
+#  - catkin_make $( [ -f $CATKIN_OPTIONS ] && cat $CATKIN_OPTIONS )
+#  # Run the tests, ensuring the path is set correctly.
+#  - source devel/setup.bash

ros/README.md

@@ -0,0 +1,117 @@
+# Important ROS Information
+Below you will find information about all the ROS packages, nodes, topics used in this project.
+
+## Packages & Nodes
+Here is a list of packages. Underneath each package are nodes in that package.
+
+------------------------------
+
+### autopilot
+The autopilot node is the brain of the self-driving car. It uses end-to-end
+deep learning to predict the steering, acceleration and braking commands of 
+the vehicle.  while subscribes to the camera feed. (Node currently functioning) The Arduino subsribes to the steering_cmds and controls the steering accordingly.
+
+##### Nodes:
+- `autopilot`
+- `visualization`
+
+##### Publishes
+- `/vehicle/dbw/steering_cmds/`
+- `/vehicle/dbw/cruise_cmds/`
+
+##### Subscribes
+- `/cv_camera_node/image_raw`
+- `/cv_camera_node/image_sim`
+
+------------------------------
+
+### object_detection
+YOLO (You Only Look Once) realtime object detection system.
+
+#### Nodes:
+-  `object_detection_node`
+
+#### Publishes
+- `/detection/object/detection_visualization/`
+- `/detection/object/detection_result`
+
+#### Subscribes:
+- `/cv_camera_node/image_raw`
+
+------------------------------
+
+### segmentation
+Semantic segmentation node. Deep learning, ConvNets
+
+##### Nodes:
+- `segmentation_node`
+
+##### Publishes
+- `/segmentation/visualization/`
+- `/segmentation/output`
+
+##### Subscribes
+- `/cv_camera_node/image_raw`
+
+------------------------------
+
+### cv_camera
+The cameras are the main sensors of the self-driving car. 
+
+##### Nodes:
+- `cv_camera_node`
+
+##### Publishes
+- `/cv_camera_node/image_raw`
+
+------------------------------
+
+### driver
+This is the main package of the project. It pulls together all the individual nodes to create a complete self-driving system.  
+
+##### Nodes:
+- `drive`
+
+------------------------------
+
+### gps
+Used for localization. Currently using the Adafruit GPS module, serial communication.
+
+##### Nodes:
+- `gps_receiver`
+- `nmea_topic_driver`
+- `nmea_topic_serial_reader`
+
+The GPS package manages and publishes the data received from a GPS module connected via serial. The package 
+
+#### Publishes:
+
+- `/sensor/gps/fix`
+- `/sensor/gps/vel`
+
+------------------------------
+
+### data_logger
+The logger node records and compiles a dataset for supervised machine learning purposes. The future is to use rosbag instead of the data_loggar node. (Node currently functioning)
+
+##### Nodes:
+- `logger`
+
+------------------------------
+
+### osm_cartography
+
+#### Nodes:
+- `osm_client`
+- `osm_server`
+- `viz_osm`
+
+This package broadcasts and processes .osm files. OSM files are OpenStreetMap files which contain detailed information about the environment, 
+such as coordinates of roads, building and landmarks. Currently, the main function of the package is to broadcast the osm info to rviz for 
+visualization. (Node currently functioning)
+
+### topics for visualization
+- /visual/steering/angle_img
+- /visual/detection/object/bbox_img
+- /visual/detection/lane/marking_img
+- /visual/segmentation/seg_img

ros/src/autopilot/scripts/visualization/visualization.py

@@ -1,18 +1,22 @@
 #!/usr/bin/python
 #
-# Results video generator Udacity Challenge 2
+# The AutoPilot module <visualization> node
+# Part of the self-driving golf cart project
+#
 # Original By: Comma.ai and Chris Gundling
 # Revised and used by Neil Nie
 #
 
+# General Dependencies
 import numpy as np
 from skimage import transform as tf
 from vis.visualization import visualize_cam
 import cv2
 from PIL import Image as PILImage
 from PIL import ImageFont
 from PIL import ImageDraw
-# ROS
+
+# ROS Dependencies
 import rospy
 from sensor_msgs.msg import Image
 from std_msgs.msg import Float32
@@ -163,8 +167,9 @@ def __init__(self):
         self.bridge = CvBridge()
         self.steering_angle = 0.0
         self.accel_cmds = -1
-        # Please note that the visualization node listens to either the raw
-        # camera input or the simulated camera input. Please change this
+
+        # Please note that the visualization node listens to either the
+        # *raw camera* or the *simulated camera* . Please change this
         # setting in the launch file (/launch/steering_control.launch)
         # or specify this parameter in your command line input.
         simulation = rospy.get_param("/autopilot_node/simulation")

ros/src/detection/lane_detection/scripts/lane_detector.py

@@ -1,13 +1,16 @@
 #
+# Lane Detection Class
+# Part of the <lane_detection> node
+# The <detection> module
 #
-#
-#
+# The self-driving-golf cart
+# (c) Neil Nie
 
 import numpy as np
 import cv2
 import glob
 import matplotlib.pyplot as plt
-from detection.lane import utils
+import utils
 
 
 class LaneDetector():

ros/src/detection/lane_detection/scripts/utils.py

@@ -7,7 +7,10 @@
 import cv2
 import numpy as np
 import glob
-from detection.lane import configs
+import configs
+
+# TODO: update the test images
+# TODO: update the path to the test images.
 
 
 def get_test_images():