ADAS_ROS2-OpenCV-Lane-Detection-Auto-Braking-with-LIDAR-Object-Detection-Gazebo-Teleop-Keyboard
ADAS Application with ROS2 using Camera and LIDAR using Gazebo Simulator.
This is an open source project using License Apache 2.0 to understand simple ADAS applications using ROS2 Crystal and Gazebo Simulator.You can drive around the robot in the simulator and have Lane Detection and Auto Brake when object is detected. It uses a Hough Transform algorithm which works only for straight lines. This setup requires:
- ROS2 crystal. Install (https://index.ros.org/doc/ros2/Installation/Crystal/Linux-Install-Debians/)
- Gazebo 9. Install (http://gazebosim.org/tutorials?tut=install_ubuntu&cat=install)
- OpenCV & cv_bridge. Install (https://www.learnopencv.com/install-opencv3-on-ubuntu/)
Steps to run the demo:
1.Clone the repo:
git clone https://github.com/Viplav04/ADAS_ROS2-OpenCV-Lane-Detection-Auto-Braking-with-LIDAR-Object-Detection-Gazebo-Teleop-Keyboard.git
2.Paste the model folders : my_robot, hokuyo and depth_camera in .gazebo/models folder.
Be careful, these folder have been modified so change the names before pasting as they may over write original folders in models directory.
3.In 1st terminal
Source ROS2 :
source /opt/ros/crystal/setup.bash
Source gazebo:
source /usr/share/gazebo/setup.sh
To run gazebo:
gazebo --verbose myworld.world
4.In 2nd terminal, source ROS2 crystal and To build Lane_detection_node :
source /opt/ros/crystal/setup.bash
cd ~/Lane_detection_node
colcon build
source insall/local_setup.bash
To run lane detection node:
ros2 run lane_assist lane_node
5.In another terminal, source ROS2 crystal: To build laser_obstacle_avoidance :
source /opt/ros/crystal/setup.bash
cd ~/laser_obstacle_avoidance
colcon build
To run obstacle node:
ros2 run laser_obstacle_avoidance obstacle_node
6.In another terminal :
source ROS2 crystal
source /opt/ros/crystal/setup.bash
ros2 run teleop_twist_keyboard teleop_twist_keyboard
Play around!!!
Please open a issue or write to me for issues. A SLAM node and navigation package can be added easily.