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https://github.com/makerviet/via-ros-2
VIA Autonomous. Self-driving car on ROS 2.0. Currently supporting lane following and traffic sign detection.
https://github.com/makerviet/via-ros-2
autonomous-robots robotics ros ros2 sdk self-driving-car
Last synced: about 2 months ago
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VIA Autonomous. Self-driving car on ROS 2.0. Currently supporting lane following and traffic sign detection.
- Host: GitHub
- URL: https://github.com/makerviet/via-ros-2
- Owner: makerviet
- Created: 2021-05-09T03:48:33.000Z (over 3 years ago)
- Default Branch: master
- Last Pushed: 2021-09-17T18:28:20.000Z (over 3 years ago)
- Last Synced: 2024-05-21T12:23:22.930Z (8 months ago)
- Topics: autonomous-robots, robotics, ros, ros2, sdk, self-driving-car
- Language: C++
- Homepage: https://via.makerviet.org/vi/
- Size: 44.9 MB
- Stars: 9
- Watchers: 3
- Forks: 6
- Open Issues: 1
-
Metadata Files:
- Readme: README.md
Awesome Lists containing this project
README
# VIA SDK - ROS2-based architecture for autonomous robots
VIA project: .
[](https://youtu.be/d1vy-Sd1LJE)
## I. Setup development environment
### 1. Native development
**Requirements**
- Ubuntu 20.04
- ROS 2 Foxy
- camera_info_manager
- image_transport
### 2. Using Docker
**Requirements**
- Visual Studio Code
- ROS 2: Foxy/Dashing
- Docker
**Step 1: Clone source code and Open in container - VS Code**
**Step 2: Wait for Docker pull and start your contributions**
**ROS 2 Cheatsheet:** .
## II. Demo
## 1. VIA Simulation Autopilot
This demo shows how to run VIA Autonomous to control a self-driving car in simulation environment.
- Download the Simulation [here](https://github.com/makerhanoi/via-simulation-jeep/releases/tag/v0.2) - Only Linux suppported for now, you can clone the [source code](https://github.com/makerhanoi/via-simulation-jeep) and build your simulation for other OSes.
- Run the simulation and select a map.
- Build all packages
```
sh scripts/build.sh
source install/setup.bash
```
- Run autonomous stack
```
ros2 launch via_bringup via_car_simulation.py
```
## 2. Camera node demo
This demo shows you how to use VIA `generic_camera_node` to capture images from a camera and publish them to a ROS topic.
- Build all packages
```
sh scripts/build.sh
source install/setup.bash
```
- Launch camera node
```
ros2 launch generic_camera_node camera_node.launch.py
```
- Start camera stream
```
ros2 service call /camera/start std_srvs/srv/Trigger "{}"
```
- Open image viewer to see the published images
```
ros2 run rqt_image_view rqt_image_view
```
- Stop camera stream
```
ros2 service call /camera/stop std_srvs/srv/Trigger "{}"
```
## III. Issues
### 1. No ROS node name when using `ros2 node list`:
Restart ROS 2 deamon:
```
bash scripts/restart_ros2_deamon.sh
```
### 2. Missing ROS 2 packages?
Please ensure that you have built the project with `sh scripts/build.sh` and sourced the installation environment:
```
source install/setup.bash
```
## IV. Contact
This project is co-developed by VIA & AIR.
+ VIA Team: [email protected]
+ AIR Team: [email protected]