jiankang1991 / CarND-Capstone-T3-SSD-MobileNetV2

Self driving car capstone project based on ROS and light-weight traffic light detection CNN model

CarND-Capstone project simulation

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.

Please use one of the two installation options, either native or docker installation.

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

Run the docker file

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

Port Forwarding

To set up port forwarding, please refer to the instructions from term 2

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.
2. Unzip the file

unzip traffic_light_bag_file.zip

3. Play the bag file

rosbag play -l traffic_light_bag_file/traffic_light_training.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

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Trouble shooting for ROS installation on Ubuntu 18.04

Since my local Ubuntu system is of version 18.04, I have to download ROS Melodic Morenia. The installation can be done according to the guidance. However, I cannot run

sudo apt install ros-melodic-desktop-full

to install the full package of ROS. I find the problem is due to the incompatible version of my libprotoc-dev, which is

libprotoc-dev : Depends: libprotobuf-dev (= 3.0.0-9.1ubuntu1) but 3.6.1-4 is to be installed

So I downgrade my version of libprotoc-dev by running

sudo apt install libprotoc-dev = 3.0.0-9.1ubuntu1

After that ROS Melodic can be successfully run on my computer.

Traffic light detection based on SSD-MobileNetV2

The more information can be found in my repo.

Simulation result

My result is uploaded to Youtube: