fulkast / system_integration

This is the project repo for the final project of the Udacity Self-Driving Car Nanodegree: Programming a Real Self-Driving Car. For more information about the project, see the project introduction here.

Native Installation

• Be sure that your workstation is running Ubuntu 16.04 Xenial Xerus or Ubuntu 14.04 Trusty Tahir. Ubuntu downloads can be found here.

• If using a Virtual Machine to install Ubuntu, use the following configuration as minimum:

  • 2 CPU
  • 2 GB system memory
  • 25 GB of free hard drive space

  The Udacity provided virtual machine has ROS and Dataspeed DBW already installed, so you can skip the next two steps if you are using this.

• Follow these instructions to install ROS

  • ROS Kinetic if you have Ubuntu 16.04.
  • ROS Indigo if you have Ubuntu 14.04.

• Dataspeed DBW

  • Use this option to install the SDK on a workstation that already has ROS installed: One Line SDK Install (binary)

• Download the Udacity Simulator.

Docker Installation

Install Docker

Build the docker container

docker build . -t capstone

Additional Steps to install packages for debugging images and properly translating to numpy arrays

(install into docker image capstone:v1.1)

docker build -f ./Dockerfile-addendum -t capstone:v1.1 .

Run the docker file

docker run -p 127.0.0.1:4567:4567 -v $PWD:/capstone -v /tmp/log:/root/.ros/ --rm -it capstone:v1.1

To view the image-gui perform the following steps:

./run-gui.sh

Export the current container's ID export containerId=$(docker ps -l -q)

Grant the current container access to the xhost, for display.

xhost +local:`docker inspect --format='{{ .Config.Hostname }}' $containerId`
`docker start $containerId`

Usage

1. Clone the project repository

git clone https://github.com/udacity/CarND-Capstone.git

2. Install python dependencies

cd CarND-Capstone
pip install -r requirements.txt

3. Make and run styx

cd ros
catkin_make
source devel/setup.sh
roslaunch launch/styx.launch

4. Run the simulator

Real world testing

1. Download training bag that was recorded on the Udacity self-driving car (a bag demonstraing the correct predictions in autonomous mode can be found here)
2. Unzip the file

unzip traffic_light_bag_files.zip

3. Play the bag file

rosbag play -l traffic_light_bag_files/loop_with_traffic_light.bag

4. Launch your project in site mode

cd CarND-Capstone/ros
roslaunch launch/site.launch

5. Confirm that traffic light detection works on real life images