Connect Jetson Nano to Udacity Self Driving Car Simulator
We used Jetson Nano to run the Kidnapped Vehicle Project of Udacity’s Self Driving Car Engineer Nanodegree Program (CarND).
We were able to carry out the project with a combination of a PC running the Udacity Self Driving Car Simulator and a Jetson Nano running the code for the CarND Kidnapped Vehicle Project.
CarND Kidnapped Vehicle Project
CarND Kidnapped Vehicle Project is one of CarND’s projects, and the base code is available on https://github.com/udacity/CarND-Kidnapped-Vehicle-Project.
It is difficult to estimate the content from the name, but in this project, localization is performed using the Particle Filter. CarND students are required to complete a code that meets the requirements for position and orientation estimation accuracy and processing time.
Udacity Self Driving Car Simulator
The simulator for CarND projects is the Udacity Self Driving Car Simulator published at https://github.com/udacity/self-driving-car-sim.
The CarND Kidnapped Vehicle Project uses Term 2 Simulator.
NVIDIA Jetson Nano
The Jetson Nano is a palm-sized computer as shown below.
For more information on Jetson Nano, please visit https://www.nvidia.com/ja-jp/autonomous-machines/embedded-systems/jetson-nano/.
This time, we built a development environment using Docker installed with JetPack.
How to connect Jetson Nano to Udacity Self Driving Car Simulator
It seems that Term 2 Simulator is set to communicate using localhost port 4567 (127.0.0.0:4567), from the PC running Term 2 Simulator, port forward the 4567 port of the PC to the 4567 port of <JetsonNano> as follows.
$ ssh -L 4567:<JetsonNano>:4567 <UserName>@<JetsonNano>
After log in to <JetsonNano>, change to the CarND Kidnapped Vehicle Project directory and execute the following command.
$ ./run.sh Listening to port 4567
Start Term 2 Simulator on your PC, go to “Project 3: Kidnapped Vehicle” shown below, and click [SELECT]. At this time, Connected!!! is displayed on the console connected to <JetsonNano>.
When the figure below is displayed, click [Start] to start the simulation.
When the simulation is finished, the first figure is displayed. If the message Success! Your particle filter passed! is displayed, the project is successful.
Summary
We were able to carry out the project with a combination of a PC running the Udacity Self Driving Car Simulator and a Jetson Nano running the code for the CarND Kidnapped Vehicle Project.
