An autonomous vehicle written in python
Introduction • Documentation • Screenshots • Contribute
⚠️ ➡️ Video here ⬅️ ⚠️
a.k.a.: "Roomba, that does not suck"
Written in Python 🐍 (mostly).
This repository contains main software and documentation for the Tonic project. This project aims to create an open-sourced autonomous driving system, along with its hardware prototype implementation. Some essential parts of the projects are contained in other related repos. See the list of related repos The core idea of how this should work is as follows:
All of that to be possible for as cheap as possible, with a raspberry PI and only a single camera.
As for now, this repository (mmajewsk/Tonic) contains guides and software for building, running and steering the car 🚘 for the data taking. The code is divided, into Tonic/control and Tonic/car.
The Tonic/control contains the code that is meant to be run on your laptop/pc/mac, that will control the raspberry pi Tonic/car.
The machine and control interface is communicating via WiFi network, using sockets.
Sensors, camera, and steering - each one is implemented as a separate service using sockets. You can steer it with the keyboard on PC, while seeing live feed from the camera. All of the sensors, steering and video can be dumped to files on PC. You don't need to turn all of the sensors to make this work.
The odometry and IMU are not necessary to make an environment mapping
To make your machine drive autonomously, follow the guide in Tonic/autonomous repo.
🧑🔧 This project is meant to be open for everyone. The contributions are welcome. If you would like to help see what's listed in the issues here, or add something yourself.
Also, you can join the 🗣️ discord server if you are looking for quick help, or just want to say hi ;)