A car is driving in a simulated environment autonomously, adjusting it's behaviour to the surroundings.

ROS Kinetic and CMake is necessary for this repository.

This package implements pedestrian detection using the OpenCV library. It contains a node, which subscibes to an image topic, and a publisher, which published the human detections.

This package implements obstacle detection using the PCL library. It contains a node, which subscibes to the /point_cloud topic and a publisher, which publishes the detections. In processing the point cloud, first the ground plane is removed with PCL's SACSegmentation, then the obstacles are extracted using Eucledia cluster extraction with PCL functions.

This package implements the control of the autonomous vehicle. It contains a node, which subsctibes to the pcl_solution and opencv_solution nodes topics. It avoids obstacles by adjusting its steering based on the pcl detections and it stops, when a pedestrian gests too close.

The car simulation package used in this project is accessible at https://github.com/osrf/car_demo.