Final.Result.mp4
- Ubuntu 20.04.6 LTS (64-bit)
Ensure you have the following tools installed on your system:
- Basic Tools:
sudo apt install build-essential
sudo apt install git
sudo apt-get install terminator- ROS Installation: Follow these steps to install ROS (Noetic version):
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt install curl
sudo apt update
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
sudo apt install ros-noetic-desktop-full
sudo apt install python3-catkin-tools- Update .bashrc: To ensure ROS is sourced correctly, update the .bashrc file:
echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrcBefore proceeding, install the following ROS packages:
sudo apt-get install ros-noetic-nodelet
sudo apt-get install ros-noetic-depth-image-proc
sudo apt-get install ros-noetic-octomap
sudo apt-get install ros-noetic-octovis
sudo apt-get install ros-noetic-octomap-msgs
sudo apt-get install ros-noetic-octomap-rviz-*
sudo apt-get install ros-noetic-octomap-mapping
sudo apt-get install ros-noetic-octomap-server
sudo apt-get install ros-noetic-pcl-ros
sudo apt-get install ros-noetic-pcl-conversions
sudo apt-get install python3-pcl
sudo apt-get install python-opencv
sudo apt install ros-noetic-navigation
sudo apt install ros-noetic-actionlibFollow these steps to run the autonomous driving project:
- Open a new terminal.
- Clone the repository.
- Build the project.
If any packages are missing, you can use rosdep to install them (be careful, this might causes problem with your current ROS installation):
cd autonomous_driving
sudo apt-get install python3-rosdep
sudo rosdep init
rosdep update
rosdep install --from-paths src --ignore-src -r -y
source /opt/ros/noetic/setup.bash
catkin build
source devel/setup.bashBefore running the system, ensure you have the simulation files ready:
- Download the Unity Environment from: Unity Environment Download Link
- Unzip the Unity file and copy the contents to
.../devel/lib/simulation/ - Make the simulation executable:
chmod +x ./devel/lib/simulation/Car_build.x86_64Run the entire system:
source devel/setup.bash
roslaunch master.launchNow, you should see both the Unity simulation window and the RViz visualization tool. RViz will open with a pre-configured file that allows you to visualize the entire autonomous driving pipeline.
If you are a developer, you can use VS Code for coding:
- Install VS Code:
sudo apt install code- Open the 'autonomous_driving' folder in VS Code.
- In VS Code, go to the Extensions sidebar (Ctrl+Shift+X). Search for "ROS" in the search bar and choose the "ROS" extension developed by Microsoft.
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