Skip to content

PHASE-1_readme.MD

Latest commit

 

History

History
111 lines (86 loc) · 4.38 KB

PHASE-1_readme.MD

File metadata and controls

111 lines (86 loc) · 4.38 KB
Raw

🚦 PHASE-1: A SIMPLE ROUTE FOLLOWING VEHICLE (WAYPOINT FOLLOWER)

  1. In this phase, the basic objective of a self-driving car will be implemented.
  2. The basic objective is to drive a car from a starting point to a destination point.
  3. Here, we are not bothering about collisions, traffic rules, or complex maneuvers.

🕹️ Step-by-step operation to do it with CARLA, ROS2, CARLA ROS2 bridge

  1. Start CARLA server and source CARLA ROS2 bridge.
  2. Spawn a vehicle.
  3. Use a route planner to find the best route from the vehicle's location to the destination point.
  4. Use a controller to control the vehicle to follow the route.
  5. Use Navigation HMI to select the destination location on the map.

1. 🌍 Start CARLA server and source CARLA ROS2 bridge.

  1. Run the CARLA server. Open a new terminal (terminal 1) and run the following command to start the CARLA server:

    bash $HOME/CARLA_PROJECT/CARLA_0.9.15/CarlaUE4.sh -prefernvidia

  2. Source ROS2 HUMBLE. Open a new terminal (terminal 2) and run the following command to source ROS2:

    conda deactivate
source /opt/ros/humble/setup.bash

  3. 🔗 Source the ROS2 CARLA Bridge. In terminal 2, run the following command:

    source $HOME/CARLA_PROJECT/ros2_bridge_ws/ros-bridge/install/setup.bash
export CARLA_ROOT=$HOME/CARLA_PROJECT/CARLA_0.9.15
export PYTHONPATH=$PYTHONPATH:$CARLA_ROOT/PythonAPI/carla

2. 🚗 Spawn a vehicle

  1. Use a ROS2 package to spawn a vehicle. In terminal 2, run the following command:

    ros2 launch carla_ros_bridge carla_ros_bridge_with_example_ego_vehicle.launch.py

3. 🧭 Use a route planner to find the best route from the vehicle's location to the destination point.

  1. For route planning, we will be using the waypoint publisher, which is part of the ROS2 package. To initiate the waypoint publisher, run the following command in a new terminal (terminal 3):

    conda deactivate
source /opt/ros/humble/setup.bash
source $HOME/CARLA_PROJECT/ros2_bridge_ws/ros-bridge/install/setup.bash
export CARLA_ROOT=$HOME/CARLA_PROJECT/CARLA_0.9.15
export PYTHONPATH=$PYTHONPATH:$CARLA_ROOT/PythonAPI/carla
ros2 launch carla_waypoint_publisher carla_waypoint_publisher.launch.py

4. ⚙️ Use a controller to control the vehicle to follow the route.

  1. We will be using the local planner package in the CARLA ROS2 bridge for controlling the vehicle or to follow the published waypoints (route) in CARLA. To initiate the local planner, please run the following command from a new terminal (terminal 4) as follows:

    conda deactivate
source /opt/ros/humble/setup.bash
source $HOME/CARLA_PROJECT/ros2_bridge_ws/ros-bridge/install/setup.bash
export CARLA_ROOT=$HOME/CARLA_PROJECT/CARLA_0.9.15
export PYTHONPATH=$PYTHONPATH:$CARLA_ROOT/PythonAPI/carla
ros2 run carla_ad_agent local_planner

5. 🎯 Use Navigation HMI to select the destination location on the map.

  1. Source the navigation package. Open a new terminal (terminal 5) and run the following command:

    conda deactivate
source /opt/ros/humble/setup.bash
source $HOME/CARLA_PROJECT/ros2_bridge_ws/ros-bridge/install/setup.bash
export CARLA_ROOT=$HOME/CARLA_PROJECT/CARLA_0.9.15
export PYTHONPATH=$PYTHONPATH:$CARLA_ROOT/PythonAPI/carla
source $HOME/CARLA_PROJECT/carla_ros2_ws/install/setup.bash

  2. Run the navigation node with the following command:

    ros2 run navigation navigation_hmi

  3. Launch RViz 2 in a new terminal (terminal 6):

    conda deactivate
source /opt/ros/humble/setup.bash    
rviz2

  4. Select the carla_road_network topic to visualize the road network in RViz 2.

  5. Select the carla/markers topic to visualize the vehicle in RViz 2.

  6. Select the carla/waypoints topic to Visualize the published route in Rviz 2.

  7. Now choose the "Goal Pose" option to select the destination point in the road network.

  8. Once you select the goal pose, you can see the new route created by the waypoint publisher on the map.

  9. And at this moment, the vehicle will start driving towards this location.

Video tutorial

https://youtu.be/jFORY41LDHo?si=h1kVquHgi4Zu2OJq