This is the Autonomous Driving Project for the course "Introduction to ROS"
Team members: Dean Mercer, Lukas Evers, Mena Kuzman, Sammy Breen
- Install ROS noetic on Ubuntu 20.04 according to these instructions https://wiki.ros.org/noetic/Installation/Ubuntu. Please install ros-noetic-desktop-full.
- Install python3-catkin-tools
sudo apt-get install python3-catkin-tools
- Install external ROS packages used for the project
sudo apt install ros-noetic-move-base
sudo apt install ros-noetic-pointcloud-to-laserscan
sudo apt install ros-noetic-map-server
sudo apt install ros-noetic-teb-local-planner
- Build the project with catkin build in the "Projects/AutonomousDriving/" folder
- Download the Unity Environment
- Unzip the Unity file and copy the files to .../devel/lib/simulation/ and make Car_build.x86_64 runnable
Do not forget to source the terminal with:
source devel/setup.bash
The entire software stack can be launched with a single launch file. To start the software use following command:
roslaunch car_bringup master.launch
The car will start driving and follows a path around the road network without colliding. It will stop at red lights.
Additionally to the visualization of the Unity simulation a rviz configuration can be used to visualize the object detection and planning. From the "Projects/AutonomousDriving/" folder launch rviz with:
rviz rviz -d src/car_bringup/rviz/nav.rviz