Autonomous Driving Project (AD17) - Introduction to ROS

Result

Final.Result.mp4

System Requirements

• Ubuntu 20.04.6 LTS (64-bit)

Tools Installation

Ensure you have the following tools installed on your system:

1. Basic Tools:

sudo apt install build-essential
sudo apt install git
sudo apt-get install terminator

2. ROS Installation: Follow these steps to install ROS (Noetic version):

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt install curl
sudo apt update
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
sudo apt install ros-noetic-desktop-full
sudo apt install python3-catkin-tools

3. Update .bashrc: To ensure ROS is sourced correctly, update the .bashrc file:

echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc

Packages Installation

Before proceeding, install the following ROS packages:

sudo apt-get install ros-noetic-nodelet
sudo apt-get install ros-noetic-depth-image-proc
sudo apt-get install ros-noetic-octomap
sudo apt-get install ros-noetic-octovis
sudo apt-get install ros-noetic-octomap-msgs
sudo apt-get install ros-noetic-octomap-rviz-*
sudo apt-get install ros-noetic-octomap-mapping
sudo apt-get install ros-noetic-octomap-server

sudo apt-get install ros-noetic-pcl-ros
sudo apt-get install ros-noetic-pcl-conversions
sudo apt-get install python3-pcl
sudo apt-get install python-opencv

sudo apt install ros-noetic-navigation
sudo apt install ros-noetic-actionlib

Getting Started

Follow these steps to run the autonomous driving project:

1. Open a new terminal.
2. Clone the repository.
3. Build the project.

If any packages are missing, you can use rosdep to install them (be careful, this might causes problem with your current ROS installation):

cd autonomous_driving
sudo apt-get install python3-rosdep
sudo rosdep init
rosdep update
rosdep install --from-paths src --ignore-src -r -y
source /opt/ros/noetic/setup.bash
catkin build
source devel/setup.bash

Before running the system, ensure you have the simulation files ready:

1. Download the Unity Environment from: Unity Environment Download Link
2. Unzip the Unity file and copy the contents to .../devel/lib/simulation/
3. Make the simulation executable:

chmod +x ./devel/lib/simulation/Car_build.x86_64

Run the entire system:

source devel/setup.bash
roslaunch master.launch

Now, you should see both the Unity simulation window and the RViz visualization tool. RViz will open with a pre-configured file that allows you to visualize the entire autonomous driving pipeline.

Code Editor (For Developers)

If you are a developer, you can use VS Code for coding:

1. Install VS Code:

sudo apt install code

2. Open the 'autonomous_driving' folder in VS Code.
3. In VS Code, go to the Extensions sidebar (Ctrl+Shift+X). Search for "ROS" in the search bar and choose the "ROS" extension developed by Microsoft.