Demo Video

Usage

Aliases

Aliases can be used to shorten the commands used inside of the docker. Here is a list of all existing aliases:

• help: List all aliases with short description
• build: Same as colcon build
• buildall: Build while overriding all modules
• gazebo: Start gazebo simulation
• driver [default|debug]: Start the main driver. You must also start the controller and image processing nodes.
• controller [default|debug]: Start remote controller, optionally as debug. Will be default by default. See Start Remote Controller for keybinds.
• image [default|debug|image|image_debug]: Start image processing. Refer to Start Image Processing for modes. Will be default by default.
• sensorSteer: Start sensor steer.

Basic Setup

xhost +  # exposes displays
docker-compose build  # build docker
docker-compose up -d  # start docker
docker-compose exec ros bash  # enter docker terminal
colcon build
source ./install/setup.bash

Rebuild all applications:

colcon build --allow-overriding car_controller gazebo_simulation image_processing remote_controller sensor_steer

Applications

Start Simulation

ros2 launch gazebo_simulation car.launch.py

Start RQT

rqt

Start Autonomous Driving

ros2 run autonomous_driving <MODE>

Start Remote Controller

ros2 run remote_controller <MODE>

Modes:

• default
• debug - Debug logging enabled

Debug preview:

----------------------------------------------------
speed: 1.0
steering: 30.0
abortion: False

w: True
a: True
s: False
d: True
q: False
t (shift): False
----------------------------------------------------

Use WASD to steer the Vehicle. Additional Keys:

• t for Turbo
• q to switch between Driving and Remote Controller
• f to activate lane switching
• r to reset the PIDs

Start Image Processing

ros2 run image_processing <MODE>

Modes:

• default - Everything enabled, no debug logging
• debug - Everything enabled, debug logging
• image - Image processing enabled, steering disabled, no debug logging
• image_debug - Same as image with debug logging

Debug preview:

----------------------------------------------------
Debug: True, Image Only: False

Cropping
        Height: 480, Width: 640

Transformer
        Height: 592, Width: 1040

Hough Transformation
        Lines: 41

Line Detection
        M Values:       Left: 0.141000, Right: -0.392000
        Offsets:        Left: 2.191000, Right: -1.342000
        Steer Values:   Left: 0.730000, Right: -0.447000
        Steering:       -1.074000
        Steering enabled: True

Time taken: 0.021237
----------------------------------------------------