Team15 Cars Autonomous Driving Project

This project enables a vehicle to drive autonomously in simulation, obeying traffic signals and minimizing travel time. Built with ROS Noetic.

Getting Started

1. Install Dependencies (see below).
2. Copy the src folder to your repository and build it.
3. Download the Unity Environment.
4. Unzip and copy the Unity files to .../devel/lib/simulation/.
5. Source the setup.bash file.
6. Launch the simulation:

roslaunch path_planner movebase_teb.launch

• Multiple monitoring windows will open.
• The vehicle will generate velocity commands that obey traffic signals.
• Manual control is available via w, a, s, d in Unity.

7. Check velocity commands:

rostopic echo /cmd_mutipller_node/ackermann_cmd_mux

Dependencies Installation

sudo apt-get install ros-noetic-ackermann-msgs \
   ros-noetic-vision-opencv \
   ros-noetic-teb-local-planner \
   ros-noetic-octomap-ros \
   ros-noetic-cv-bridge \
   ros-noetic-octomap-server \
   ros-noetic-sensor-msgs \
   ros-noetic-eigen-conversions \
   ros-noetic-tf-conversions \
   ros-noetic-move-base \
   ros-noetic-move-base-msgs \
   ros-noetic-geometry-msgs \
   ros-noetic-tf2-ros \
   ros-noetic-actionlib-msgs \
   ros-noetic-message-generation \
   ros-noetic-nav-msgs

Results

Point cloud and voxel grid generation

3D Occupancy grid and projected map

Autonomous Drive