LaneFollowing
===
Now Bunny is going to find the carrot through the track!
#### TODO
* install some dependency on laptop(if u use pre-installed-laptop image skip)
* Run LaneFollowing node
* Set finite state machine state

### install software on laptop
*note: if u use pre-installed-laptop image, skip this.*

**ssh to your pi**

bunnybot $ 
sudo apt-get install libblas-dev liblapack-dev libatlas-base-dev gfortran -y 

bunnybot $ 
sudo pip install scipy --upgrade  

bunnybot $
sudo pip install scikit-learn --upgrad

*note:
**libblas**:Basic Linear Algebra Subprograms
**liblapack**:Linear algebra package
**libatlas**:Automatically Tuned Linear Algebra Software
**pip install** python package manager
**scipi**: Scientific Tools in python
**scikit-learn**: machine-learning in python*

### Run LaneFollowing node

**ssh to your pi**

bunnybot $ source set_vehicle_name.sh alphaduck 
bunnybot $ roslaunch duckietown_demos lane_following.launch 
veh:=alphaduck line_detector_param_file_name:=oreo

This will run up the LaneFollowing node with calibration parameter file we ever did it previous steps! OhYa.

### Set finite state machine state
##### in laptop

laptop $ cd ~/duckietown 
laptop $ source environment.sh
laptop $ source set_ros_master.sh alphaduck
laptop $ rosservice call /alphaduck/fsm_node/set_state LANE_FOLLOWING

In previous stage run actually launch master.launch with idle state. By apply rosservice call set the state to **LANE_FOLLOWING**.

***MAGIC!!! YOUR BUNNY running!!! YA!***

Now it is following the track, carrot here we come!

the magic behind this see **Liam Paull's** work. Thanks Liam!
[Lane Filter](https://drive.google.com/file/d/0B1LURnwbQ6JCd0VGYThDZUExVWM/view?usp=sharing)

###### tags: `duckietown-bunny`