yezhicheng99 / autonomous_driving_project

SLAM, navigation for ackermann steering vehicle

Autonomous driving project for ackermann steering/car-like vehicle using ROS

Simulation

Curve Driving

Reverse Parking

Side Parking

Tested on:

• Ubuntu 18.04 (ROS Melodic)

1. Installation

1.1 Clone and install all dependencies:

sudo apt install -y python-rosdep
cd <your_ws>/src
git clone https://github.com/yezhicheng99/autonomous_driving_project.git
cd ..
rosdep install --from-paths src --ignore-src -r -y

1.2 Build your workspace:

cd <your_ws>
catkin_make
source <your_ws/>/devel/setup.bash

2. Quick Start

2.1 SLAM demo:

2.1.1 Run SLAM launch file:

roslaunch myhamster_slam myhamster_slam.launch slam_methods:=gmapping

Change the "slam_methods" value as you want: [gmapping, cartographer, hector, karto]

2.1.2 Run the teleop node:

roslaunch mytutorial_pkg teleop.launch

2.1.3 Save map

cd <your_ws>/src/autonomous_driving_project/myhamster_navigation/maps
rosrun map_server map_saver -f map

2.2 Autonomous Navigation:

2.2.1 Run the Gazebo environment:

roslaunch myhamster_navigation navigation.launch 

Send goal in rviz:

• Click '2D Nav Goal'.
• Click and drag at the position you want the robot to go.

2.3 Single Task Demo:

2.3.1 Start simulation environment

roslaunch myhamster_challenge start_gazebo.launch

2.3.2 Run reverse parking node:

roslaunch myhamster_challenge reverse_parking.launch

2.3.3 Run hill climbing node:

roslaunch myhamster_challenge up_hill.launch

2.3.4 Run right angle turning node:

roslaunch myhamster_challenge right_angle.launch

2.3.5 Run side parking node:

roslaunch myhamster_challenge side_parking.launch

2.3.3 Run lane tracking node:

roslaunch myhamster_challenge s_shape.launch

2.4 Run Whole System Demo:

2.4.1 Start simulation environment

roslaunch myhamster_challenge start_gazebo.launch

2.4.1 Start control node

roslaunch myhamster_challenge autorace_core.launch