Assume both the architecture definition `VGG16.emadl`and the corresponding training configuration `VGG16.cnnt` are located in a folder `models` and the target code should be generated into `target` folder using `MXNet` backend. An example of a command is then:
3. MXNet - install using [official instructions at MXNet Website](https://mxnet.incubator.apache.org/) for C++
4. TORCS (see below)
4. MXNet - install using [official instructions at MXNet Website](https://mxnet.incubator.apache.org/) for C++
5. TORCS (see below)
### TORCS Installation
1. Download customized TORCS distribution from the [DeepDriving site](http://deepdriving.cs.princeton.edu/)
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4. Select driver chenyi on the right side and add it by clicking (De)Select
5. Add other drivers with the chenyi- prefix if needed
6. Click Accept -> Accept -> New Race
Example of a drivers configuration screen:

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3. Start TORCS and configure race as described above. Select mode where host car is not visible
4. Go to the `target` folder and start `run.sh` script. It will open two three terminals: one for the ROS core, one for the TORCSCOmponent (application part responsible for communication with TORCS) and one for the Mastercomponent (application part generated from the models at step 2 which is repsondible for application logic)
#Troubleshooting Help
Error: CNNPredictor_dp_mastercomponent_dpnet.h:4:33: fatal error: mxnet/c_predict_api.h: No such file or directory
Fix:
Copy compiled mxnet lib and include files to usr/lib and usr/include respectively. Replace YOUR_MXNET_REPOSITORY with your corresponding information:
```cd YOUR_MXNET_REPOSITORY/incubator-mxnet/lib
sudo cp * /usr/lib
cd YOUR_MXNET_REPOSITORY/incubator-mxnet/include
sudo cp -r * /usr/include```
Error: HelperA.h:79:28: error: ‘sqrtmat’ was not declared in this scope
Fix:
Copy compiled armadillo lib and include files to usr/lib and usr/include respectively. Replace YOUR_ARMADILLO_REPOSITORY and VERSION (e.g. 8.500.1) with your corresponding information:
```cd YOUR_ARMADILLO_REPOSITORY/armadillo-VERSION
sudo cp libarmadillo* /usr/lib
cd YOUR_ARMADILLO_REPOSITORY/armadillo-VERSION/include
sudo cp -r * /usr/include```
Error: Coordinator_dp_mastercomponent.cpp.o: undefined reference to symbol 'dsyrk_' usr/lib/libopenblas.so.0: error adding symbols: DSO missing from command line (after executing Run generate2ros.sh)
Fix:
Once generate2ros.sh was executed, modify the file YOUR_TORCSDL_REPOSITORY/torcs_dl/doc/deep_driving_project/target/Mastercomponent/dp_mastercomponent/coordinator/CMakeLists.txt to include the blas and openblas libraries, i.e.:
Then navigate to YOUR_TORCSDL_REPOSITORY/torcs_dl/doc/deep_driving_project/target and execute build_all.sh. Make sure you delete the build folders to remove the existed compilation configurations for both components: