AUTONOMOUS VEHICLE: CONTROL AND BEHAVIOUR

<p align="center"><b>AutoCarROS has migrated to ROS 2 Foxy Fitzroy</b></p> <div align="center"> <img src="https://github.com/winstxnhdw/AutoCarROS/blob/master/resources/pictures/ngeeann_av_ultrawide.png?raw=true" /> </div>

Abstract

This project contains the ROS 2 variant of the AutoCarROS repository. It is a template for the development of a robust non-holonomic autonomous vehicle platform in a simulated environment using ROS 2 and Gazebo 11.

The following GIF demonstrates a simulation built on top of AutoCarROS 2.

<div align="center"> <img src="resources/reactive_path_planning.gif" /> </div>

Installation

Create a workspace

$ mkdir -p PATH/TO/WORKSPACE/src
$ cd src

Clone the repository.

$ git clone https://github.com/winstxnhdw/AutoCarROS2.git
$ cd PATH/TO/WORKSPACE/src/AutoCarROS2

Install ROS 2 and the required dependencies.

sh ros-foxy-desktop-full-install.sh

If you only need to install the required dependencies, run the following. Otherwise, skip this step.

sh requirements.sh

Build the packages.

$ cd PATH/TO/WORKSPACE/
$ colcon build

Append the workspace to .bashrc.

$ echo "source PATH/TO/WORKSPACE/install/setup.bash" >> ~/.bashrc
$ source ~/.bashrc

Usage

When using this project for the first time, it is necessary that the user builds the packages before attempting to run the launch files.

# Change directory to your desired workspace
cd PATH/TO/WORKSPACE/

# Build packages
$ colcon build

There are two launch files the user can use. More details in the Launch Files section.

# Launch the default launch file
$ ros2 launch launches default_launch.py

# OR

# Launch the interactive launch file
$ ros2 launch launches click_launch.py

Launch Files

|Launch File|Purpose| |-----------|-------| |default_launch.py|Complete pipeline with preset waypoints| |click_launch.py|Interactive pipeline for testing and fun|

Packages

|Package|Purpose| |-----------|-------| |launches|Contains the main launch files for quick launching| |autocar_description|Contains the model's URDF and RViz configuration files| |autocar_gazebo|Contains the world files and model's SDF| |autocar_map|Contains the Bayesian Occupancy Filter stack| |autocar_msgs|Contains all custom messages used throughout every package| |autocar_nav|Contains the navigation stack|

Troubleshoot

There are occasions where colcon build does not properly rebuild the 'build' and 'install' folders, especially when one has made changes to the CMakeLists.txt. In the following, a simple quick fix can be performed.

# Remove build and install files
$ cd PATH/TO/WORKSPACE/
$ rm -rf build install

Renders

<p align="center"><b>"Because the layman doesn't care unless it looks cool."</b></p> <div align="center"> <img src="https://github.com/winstxnhdw/AutoCarROS/blob/master/resources/gifs/renders.gif?raw=true" /> <img src="https://github.com/winstxnhdw/AutoCarROS/blob/master/resources/gifs/1.gif?raw=true" /> <img src="https://github.com/winstxnhdw/AutoCarROS/blob/master/resources/gifs/2.gif?raw=true" /> <img src="https://github.com/winstxnhdw/AutoCarROS/blob/master/resources/gifs/3.gif?raw=true" /> <img src="https://github.com/winstxnhdw/AutoCarROS/blob/master/resources/gifs/4.gif?raw=true" /> </div>