https://github.com/ziyadbouazara/autonomous-driving-vehicle-ros2

Autonomous ROS2 vehicle/robot, using Lidar, 3D Camera, Optical Sensor
https://github.com/ziyadbouazara/autonomous-driving-vehicle-ros2

camera djikstra-algorithm lidar path-planning python ros ros2 self-driving-car wall-following-algorithm

Last synced: 6 days ago
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Autonomous ROS2 vehicle/robot, using Lidar, 3D Camera, Optical Sensor

• Host: GitHub
• URL: https://github.com/ziyadbouazara/autonomous-driving-vehicle-ros2
• Owner: ZiyadBouazara
• Created: 2024-05-02T18:00:37.000Z (7 months ago)
• Default Branch: main
• Last Pushed: 2024-05-02T18:20:22.000Z (7 months ago)
• Last Synced: 2024-11-13T02:45:22.308Z (6 days ago)
• Topics: camera, djikstra-algorithm, lidar, path-planning, python, ros, ros2, self-driving-car, wall-following-algorithm
• Language: Python
• Homepage:
• Size: 51.8 KB
• Stars: 3
• Watchers: 0
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md

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README

        
# design3_ws

This repo contains the colcon workspace for the design3 project. Every ROS packages are cloned using submodules. It also includes a package 'design3_system' which has every launch files to properly start each subsystem

## Demo

![image1](https://github.com/ZiyadBouazara/self-driving-vehicle-ROS2/assets/97689339/da12004a-24da-4842-958f-a406ddb712c5)

![image2](https://github.com/ZiyadBouazara/self-driving-vehicle-ROS2/assets/97689339/cccd7225-a057-4146-acb7-69026d92c36b)

## Features

- Path planning (using Djikstra Graph Shortest Path Algorithm)

- Wall Following

- Perception info analysis (Camera, Lidar)

- Other Vehicle Detection + Breaking

## Installation

```bash

git clone --recurse-submodules [email protected]:GLO-3013-eq09/design3_ws.git

cd design3_ws

rosdep install --from-paths src -y --ignore-src --rosdistro=foxy --include-eol-distros

```

Setup the udev rules so that the lidar is on `/dev/sensors/lidar` with proper permissions

## Launching the system

```bash

cd design3_ws

./build.bash

source source_ws.bash # Always source your workspace after a build

restart_design3 # This is an alias in bashrc for 'sudo systemctl restart design3-system.service'

```

## Running tests and code coverage

```bash

./test.bash

```

## Visualization

Prerequisite:

- Install Foxglove Studio on your personal machine

1. On your personal machine, connect to the robot's wifi (`RoverTeam3`)

2. On the robot, launch the whole system (You need the rosbridge which is launched with the startup script)

3. On your personal machine, open Foxglove and select Open connection to a robot > Rosbridge > http://192.168.12.1:9090

4. You should be able to visualize everything on the robot