jediofgever / ROS_Self_Driving_Car_Sim

Minimalistic Self Driving Car Simulation with basic Sensors and Perception Tasks

ROS_Self_Driving_Car_Sim

Minimalistic Self Driving Car Simulation with basic Sensors and Perception Tasks

Project Manual

Installing ROS

Accept software from packages.ros.org.

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

Set up keys

sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116

Debian up-to-date:

sudo apt-get update

Install full ROS version:

sudo apt-get install ros-kinetic-desktop-full

You will need to initialize rosdep:

sudo rosdep init

rosdep update

It's convenient if the ROS environment variables are automatically added to your bash session every time a new shell is launched:

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

Installing Gazebo 8

Setup the packages list:

sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'

Set up your keys

wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -

Make sure your Debian package index is up-to-date:

sudo apt-get update

Install gazebo 8 and dependencies following next order:

sudo apt-get install libignition-math3

sudo apt-get install gazebo8

sudo apt-get install ros-kinetic-gazebo8-ros-pkgs

Additional requirements

Gazebo packages:

sudo apt-get install libignition-transport4 libignition-transport4-dev libignition-msgs0-dev

ROS packages:

sudo apt-get install ros-kinetic-laser-geometry ros-kinetic-joint-state-publisher

Create a new Ros Workspace and Compile

mkdir -p catkin_ws/src

cd catkin_ws/src

git clone https://github.com/jediofgever/ROS_Self_Driving_Car_Sim.git

cd ..

catkin_make

Execute Nodes

Two steps here, first run simulator, NOTE; make sure you source this file de- vel/setup.bash, in your workspace

source devel/setup.bash

roslaunch simulator city.launch

Now You should see Gazebo opening with Car at the center, This might warm your computer. in a seperate terminal launch perception and RVIZ, again source devel/setup.bash

source devel/setup.bash

roslaunch perception perception.launch

Now You should see RVIZ open with Car Model, Detected Obstacles , LI- DAR pointclouds ,Local Costmap and Simulated Camera.