Waypoint navigation mode

• This uses the DonkeyCar python library: Donkeycar Updates & Examples

• use this: python navigation.py drive to run donkeyCar with way-point navigation.

• requires Realsense T265 tracking camera to provide localization information.

• you can save current position as a way point (x_button on xbox controller).

• you can save way points to a route file (y_button on xbox controller).

• you can change waypoint target (right_shoulder to target the next waypoint, left_shoulder to target the previous one, on xbox controller)

  • read the start menu to know the controls:

  

• the web control UI will display way points route, the tracked path and the pose of the car, like this:

  

Placeholder for a tutorial

Xbox controller

add this to your .profile:

 # xbox bt controller
 sudo bash -c "echo 1 > /sys/module/bluetooth/parameters/disable_ertm"

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