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dusty-nv / turbo2

Tegra Unmanned Retrieval Bot gen2, with NVIDIA Jetson and deep reinforcement learning
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Awesome glad I found this. #5

Open griz1112 opened 7 years ago

griz1112 commented 7 years ago

Wow Dusty this is excellent. Glad I ran across it. Been wanting to get into deep learning and this is perfect. Can't wait to run it on the Tx2.

dusty-nv commented 7 years ago

Hey griz! How are you. Good seeing you here. You can run these samples on TX1 or TX2. People here seem to get it running on PC, too. If you wish to re-train a network with data, that would be on PC or cloud (AWS/Azure).

On Mar 9, 2017 10:09 AM, griz1112 notifications@github.com wrote:

Wow Dusty this is excellent. Glad I ran across it. Been wanting to get into deep learning and this is perfect. Can't wait to run it on the Tx2.

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griz1112 commented 7 years ago

Yea I've finally gotten back up to speed. 15 years of not keeping up is a killer. I have 3 Tx1's now. One was given to me by Ardupilot. Its really nice an Enflight set-up. J120 carrier all mounted in a nice aluminum case. Very compact. I want to put the TX2 SOC in it but looks like the TX1 is bonded in somehow. Anyways I"ll be making some changes. Using a Sweep lidar and getting IMU and GPS from the pixhawk via mavlink. I like using a pixhawk with the Tx1 as a companion computer. Get around the lack of serial ports however with the TX1 and can buss that all goes away. So I might go with just the Tx2 and ROS like originally planned. I was disappointed it won'\t do stereo slam with ORB_SLAM2. Mono is ok but stereo keeps loosing the lock. I've seen a CUDA enhanced version video but no source code. They do say what they cudaized so I might have to try my hand at that. Just two routines apparently need to be put into the gpu. Rtabmap seems to work but I need to get the rover working again to fully test it. I had it all working was testing and it hit a hole I didn't see. Broke the base plexi in half. I was heartbroken and didn't touch it for months. But the other day I was surfing and came across a box the perfect size and now its 90% back together. I have a Tarot X6 with a TX1 on it now as well. Its running a pixhawk II with the Tx1. The idea is to do slam with that pass the maps back to the rover and use them as a team.

dusty-nv commented 7 years ago

Wow, very interesting. I forget, do you have a blog? Walter and MhyzharBot from the forum's also use ROS and RTABMAP... http://myzharbot.robot-home.it/blog/

On Mar 9, 2017 10:02 PM, griz1112 notifications@github.com wrote:

Yea I've finally gotten back up to speed. 15 years of not keeping up is a killer. I have 3 Tx1's now. One was given to me by Ardupilot. Its really nice an Enflight set-up. J120 carrier all mounted in a nice aluminum case. Very compact. I want to put the tx1 SOC in it but looks like the TX1 is bonded in somehow. Anyways I"ll be making some changes. Using a Sweep lidar and getting IMU and GPS from the pixhawk via mavlink. I like using a pixhawk with the Tx1 as a companion computer. Get around the lack of serial ports however with the TX1 and can buss that all goes away. So I might go with just the Tx2 and ROS like originally planned. I was disappointed it won'\t do stereo slam with ORB_SLAM2. Mono is ok but stereo keeps loosing the lock. I've seen a CUDA enhanced version video but no source code. They do say what they cudaized so I might have to try my hand at that. Just two routines apparently need to be put into the gpu. Rtabmap seems to work but I need to get the rover working again to fully test it. I had it all working was testing and it hit a hole I didn't see. Broke the base plexi in half. I was heartbroken and didn't touch it for months. But the other day I was surfing and came across a box the perfect size and now its 90% back together. I have a Tarot X6 with a TX1 on it now as well. Its running a pixhawk II with the Tx1. The idea is to do slam with that pass the maps back to the rover and use them as a team.

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griz1112 commented 7 years ago

I've known Walter and Raffello for a long time. Have you tried ORB_SLAM2? Monocular stereo or rgb-d. Not hard to get built but the only to go live is via some ros examples. They do work as soon as you get the topics right. Just worked with Randy last night to get it working on his machine. Now it will go up on the companion computer section of the ardupilot site. So we have rtabmap_ros and orb_slam2 now. Pixhawk II has triple redundant imu and all that. Easy to read them via mavlink. I don't have a blog are you on fb or twitter I can send you my addy on one of those. Can't wait to get the TX2 I think its going to be a slammin machine :) There is a video out there where a team redid parts of orb_slam2 with cuda. Then it works great on the Tx1. Trying to figure out where they modified it.

dusty-nv commented 7 years ago

Ahaha, SLAMing machine, I like that. I personally haven't tried ORB2 but have heard the others discussing it. That's great you are working with Randy.

On Mar 10, 2017 12:20 PM, griz1112 notifications@github.com wrote:

I've known Walter and Raffello for a long time. Have you tried ORB_SLAM2? Monocular stereo or rgb-d. Not hard to get built but the only to go live is via some ros examples. They do work as soon as you get the topics right. Just worked with Randy last night to get it working on his machine. Now it will go up on the companion computer section of the ardupilot site. So we have rtabmap_ros and orb_slam2 now. Pixhawk II has triple redundant imu and all that. Easy to read them via mavlink. I don't have a blog are you on fb or twitter I can send you my addy on one of those. Can't wait to get the TX2 I think its going to be a slammin machine :)

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akatrevorjay commented 6 years ago

@griz1112 I believe you were looking for this: https://github.com/hoangthien94/ORB_SLAM2_CUDA ?