# AWS DeepRacer Offroad launcher package

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<img src="/media/deepracer_circle_sticker.png" width="250" height="250" >
</p>

## Overview

The AWS DeepRacer Offroad sample project is a sample application built on top of the existing AWS DeepRacer application. It uses QR code detection, through which the AWS DeepRacer device can identify and navigate along a path set up using QR codes to guide the car. For detailed information on the AWS DeepRacer Offroad sample project, see the AWS DeepRacer Offroad sample project [getting started documentation](https://github.com/aws-deepracer/aws-deepracer-offroad-sample-project/blob/main/getting-started.md).

## License

The source code is released under [Apache 2.0](https://aws.amazon.com/apache-2-0/).

## Installation
Follow these steps to install the AWS DeepRacer Offroad sample project.

### Prerequisites

The AWS DeepRacer device comes with all the prerequisite packages and libraries installed to run the AWS DeepRacer Offroad sample project. For more information about the preinstalled set of packages and libraries on the AWS DeepRacer and about installing the required build systems, see [Getting started with AWS DeepRacer OpenSource](https://github.com/aws-deepracer/aws-deepracer-launcher/blob/main/getting-started.md). The AWS DeepRacer Offroad sample project requires the AWS DeepRacer application to be installed on the device, as it leverages most of the packages from the core application.

The following are additional software requirements to get the AWS DeepRacer Offroad sample project to work on the AWS DeepRacer device.

1. **Calibrate the AWS DeepRacer (optional):** Follow the [instructions](https://docs.aws.amazon.com/deepracer/latest/developerguide/deepracer-calibrate-vehicle.html) to calibrate the mechanics of your AWS DeepRacer vehicle. This should be done so that the vehicle performance is optimal and it behaves as expected.


## Downloading and building

Open a terminal on the AWS DeepRacer device and run the following commands as the root user.

1. Switch to the root user before you source the ROS 2 installation:

        sudo su

1. Stop the `deepracer-core.service` that is currently running on the device:

        systemctl stop deepracer-core

1. Source the ROS 2 Foxy setup bash script:

        source /opt/ros/foxy/setup.bash 

1. Set the environment variables required to run Intel OpenVino scripts:

        source /opt/intel/openvino_2021/bin/setupvars.sh

1. Create a workspace directory for the package:

        mkdir -p ~/deepracer_ws
        cd ~/deepracer_ws

1. Clone the entire AWS DeepRacer Offroad sample project on the AWS DeepRacer device:

        git clone https://github.com/aws-deepracer/aws-deepracer-offroad-sample-project.git
        cd ~/deepracer_ws/aws-deepracer-offroad-sample-project/deepracer_offroad_ws/

1. Clone the `async_web_server_cpp`, `web_video_server`, `rplidar_ros`, and `pyzbar dependency` packages on the AWS DeepRacer device:

        cd ~/deepracer_ws/aws-deepracer-offroad-sample-project/deepracer_offroad_ws/ && ./install_dependencies.sh

1. Fetch unreleased dependencies:

        cd ~/deepracer_ws/aws-deepracer-offroad-sample-project/deepracer_offroad_ws/
        rosws update

1. Resolve the dependencies:

        cd ~/deepracer_ws/aws-deepracer-offroad-sample-project/deepracer_offroad_ws/ && rosdep install -i --from-path . --rosdistro foxy -y

1. Build the packages in the workspace:

        cd ~/deepracer_ws/aws-deepracer-offroad-sample-project/deepracer_offroad_ws/ && colcon build


## Usage
To use the AWS DeepRacer Offroad sample application, follow these instructions.

### Run the node

To launch the AWS DeepRacer Offroad sample application as the root user on the AWS DeepRacer device, open another terminal on the device and run the following commands as the root user.

1. Switch to the root user before you source the ROS 2 installation:

        sudo su

1. Source the ROS 2 Foxy setup bash script:

        source /opt/ros/foxy/setup.bash 

1. Set the environment variables required to run Intel OpenVino scripts:

        source /opt/intel/openvino_2021/bin/setupvars.sh

1. Source the setup script for the installed packages:

        source ~/deepracer_ws/aws-deepracer-offroad-sample-project/deepracer_offroad_ws/install/setup.bash

1. Launch the nodes required for the AWS DeepRacer Offroad sample project:

        ros2 launch deepracer_offroad_launcher deepracer_offroad_launcher.py

Once the AWS DeepRacer Offroad sample application is launched, you can follow the steps [here](https://docs.aws.amazon.com/deepracer/latest/developerguide/deepracer-set-up-vehicle-test-drive.html) to open the AWS DeepRacer Vehicle's Device Console and checkout the DeepRacer Offroad mode tab which will help you control the vehicle.

### Enabling `offroad` mode using the CLI

Once the `deepracer_offroad_launcher` has been kicked off, open an adjacent new terminal as the root user:

1. Switch to the root user before you source the ROS 2 installation:

        sudo su

1. Navigate to the AWS DeepRacer Offroad workspace:

        cd ~/deepracer_ws/aws-deepracer-offroad-sample-project/deepracer_offroad_ws/

1. Source the ROS 2 Foxy setup bash script:

        source /opt/ros/foxy/setup.bash

1. Source the setup script for the installed packages:

        source ~/deepracer_ws/aws-deepracer-offroad-sample-project/deepracer_offroad_ws/install/setup.bash

1. Set the mode of the AWS DeepRacer via `ctrl_pkg` to `offroad` using the following ROS 2 service call:

        ros2 service call /ctrl_pkg/vehicle_state deepracer_interfaces_pkg/srv/ActiveStateSrv "{state: 3}"

1. Enable `offroad` mode using the following ROS 2 service call:

        ros2 service call /ctrl_pkg/enable_state deepracer_interfaces_pkg/srv/EnableStateSrv "{is_active: True}"

### Changing the `MAX_SPEED` scale of the AWS DeepRacer

The `MAX_SPEED` scale of the AWS DeepRacer can be modified using an ROS 2 service call in case the car isn’t moving as expected. This can occur due to many different factors, such as the vehicle battery percentage or the surface on which the car is being operated.

1. Switch to the root user before you source the ROS 2 installation:

        sudo su

1. Navigate to the AWS DeepRacer Offroad workspace:

        cd ~/deepracer_ws/aws-deepracer-offroad-sample-project/deepracer_offroad_ws/

1. Source the ROS 2 Foxy setup bash script:

        source /opt/ros/foxy/setup.bash

1. Source the setup script for the installed packages:

        source ~/deepracer_ws/aws-deepracer-offroad-sample-project/deepracer_offroad_ws/install/setup.bash

1. Change the MAX SPEED to xx% of the MAX Scale:

        ros2 service call /deepracer_offroad_navigation_pkg/set_max_speed deepracer_interfaces_pkg/srv/SetMaxSpeedSrv "{max_speed_pct: 0.xx}"

    Example: Change the MAX SPEED to 75% of the MAX Scale:

        ros2 service call /deepracer_offroad_navigation_pkg/set_max_speed deepracer_interfaces_pkg/srv/SetMaxSpeedSrv "{max_speed_pct: 0.75}"


## Launch files

The `deepracer_offroad_launcher.py`, included in this package, is the main launcher file that launches all the required nodes for the AWS DeepRacer Offroad sample project. This launcher file also includes the nodes from the AWS DeepRacer core application.

        from launch import LaunchDescription
        from launch_ros.actions import Node

        def generate_launch_description():
            ld = LaunchDescription()
            qr_detection_node = Node(
                package='qr_detection_pkg',
                namespace='qr_detection_pkg',
                executable='qr_detection_node',
                name='qr_detection_node'
            )
            deepracer_offroad_navigation_node = Node(
                package='deepracer_offroad_navigation_pkg',
                namespace='deepracer_offroad_navigation_pkg',
                executable='deepracer_offroad_navigation_node',
                name='deepracer_offroad_navigation_node'
            )
            camera_node = Node(
                package='camera_pkg',
                namespace='camera_pkg',
                executable='camera_node',
                name='camera_node',
                parameters=[
                    {'resize_images': False}
                ]
            )
            ctrl_node = Node(
                package='ctrl_pkg',
                namespace='ctrl_pkg',
                executable='ctrl_node',
                name='ctrl_node'
            )
            deepracer_navigation_node = Node(
                package='deepracer_navigation_pkg',
                namespace='deepracer_navigation_pkg',
                executable='deepracer_navigation_node',
                name='deepracer_navigation_node'
            )
            software_update_node = Node(
                package='deepracer_systems_pkg',
                namespace='deepracer_systems_pkg',
                executable='software_update_node',
                name='software_update_node'
            )
            model_loader_node = Node(
                package='deepracer_systems_pkg',
                namespace='deepracer_systems_pkg',
                executable='model_loader_node',
                name='model_loader_node'
            )
            otg_control_node = Node(
                package='deepracer_systems_pkg',
                namespace='deepracer_systems_pkg',
                executable='otg_control_node',
                name='otg_control_node'
            )
            network_monitor_node = Node(
                package='deepracer_systems_pkg',
                namespace='deepracer_systems_pkg',
                executable='network_monitor_node',
                name='network_monitor_node'
            )
            deepracer_systems_scripts_node = Node(
                package='deepracer_systems_pkg',
                namespace='deepracer_systems_pkg',
                executable='deepracer_systems_scripts_node',
                name='deepracer_systems_scripts_node'
            )
            device_info_node = Node(
                package='device_info_pkg',
                namespace='device_info_pkg',
                executable='device_info_node',
                name='device_info_node'
            )
            battery_node = Node(
                package='i2c_pkg',
                namespace='i2c_pkg',
                executable='battery_node',
                name='battery_node'
            )
            inference_node = Node(
                package='inference_pkg',
                namespace='inference_pkg',
                executable='inference_node',
                name='inference_node'
            )
            model_optimizer_node = Node(
                package='model_optimizer_pkg',
                namespace='model_optimizer_pkg',
                executable='model_optimizer_node',
                name='model_optimizer_node'
            )
            rplidar_node = Node(
                package='rplidar_ros2',
                namespace='rplidar_ros',
                executable='rplidar_scan_publisher',
                name='rplidar_scan_publisher',
                parameters=[{
                        'serial_port': '/dev/ttyUSB0',
                        'serial_baudrate': 115200,
                        'frame_id': 'laser',
                        'inverted': False,
                        'angle_compensate': True,
                    }]
            )
            sensor_fusion_node = Node(
                package='sensor_fusion_pkg',
                namespace='sensor_fusion_pkg',
                executable='sensor_fusion_node',
                name='sensor_fusion_node'
            )
            servo_node = Node(
                package='servo_pkg',
                namespace='servo_pkg',
                executable='servo_node',
                name='servo_node'
            )
            status_led_node = Node(
                package='status_led_pkg',
                namespace='status_led_pkg',
                executable='status_led_node',
                name='status_led_node'
            )
            usb_monitor_node = Node(
                package='usb_monitor_pkg',
                namespace='usb_monitor_pkg',
                executable='usb_monitor_node',
                name='usb_monitor_node'
            )
            webserver_publisher_node = Node(
                package='webserver_pkg',
                namespace='webserver_pkg',
                executable='webserver_publisher_node',
                name='webserver_publisher_node'
            )
            web_video_server_node = Node(
                package='web_video_server',
                namespace='web_video_server',
                executable='web_video_server',
                name='web_video_server'
            )
            ld.add_action(qr_detection_node)
            ld.add_action(deepracer_offroad_navigation_node)
            ld.add_action(camera_node)
            ld.add_action(ctrl_node)
            ld.add_action(deepracer_navigation_node)
            ld.add_action(software_update_node)
            ld.add_action(model_loader_node)
            ld.add_action(otg_control_node)
            ld.add_action(network_monitor_node)
            ld.add_action(deepracer_systems_scripts_node)
            ld.add_action(device_info_node)
            ld.add_action(battery_node)
            ld.add_action(inference_node)
            ld.add_action(model_optimizer_node)
            ld.add_action(rplidar_node)
            ld.add_action(sensor_fusion_node)
            ld.add_action(servo_node)
            ld.add_action(status_led_node)
            ld.add_action(usb_monitor_node)
            ld.add_action(webserver_publisher_node)
            ld.add_action(web_video_server_node)
            return ld


### Configuration file and parameters

| Parameter name   | Description  |
| ---------------- |  ----------- |
| `resize_images` | Set to `True` or `False` depending on if you want to resize the images in camera_pkg |


## Demo

The following image shows a first-person view of how the AWS DeepRacer navigates through a set up path:

![deepracer-offroad-demo](/media/deepracer-offroad-demo.gif)


## Resources

* [Getting started with AWS DeepRacer OpenSource](https://github.com/aws-deepracer/aws-deepracer-launcher/blob/main/getting-started.md)
* [Getting started with the AWS DeepRacer Offroad sample project](https://github.com/aws-deepracer/aws-deepracer-offroad-sample-project/blob/main/getting-started.md)
* [Instructions for creating QR codes to set up an Offroad path](https://github.com/aws-deepracer/aws-deepracer-offroad-sample-project/blob/main/create-qrcodes-to-setup-offroad-path.md)
* [Instructions for calibrating your AWS DeepRacer](https://docs.aws.amazon.com/deepracer/latest/developerguide/deepracer-calibrate-vehicle.html)