carla.hal

Real Self-Driving Car

This is the project repo for the final project of the Udacity Self-Driving Car Nanodegree: Programming a Real Self-Driving Car. For more information about the project, see the project introduction here.

Team Members
Installation
Usage
Real World Testing
Work-Arounds
Final Remarks

Team Members

Name	EMail
Daniel Hai	dyh.1213@gmail.com
Yu-Cheng Su	ycsuphy@gmail.com
Dmitry Yanchenko	dyanchenko@gmail.com
Ardavan Shafiee	bmbigbang@gmail.com
Alexander Braun	alexander.n.braun@gmail.com

Installation

Be sure that your workstation is running Ubuntu 16.04 Xenial Xerus or Ubuntu 14.04 Trusty Tahir. Ubuntu downloads can be found here.
If using a Virtual Machine to install Ubuntu, use the following configuration as minimum:
- 2 CPU
- 2 GB system memory
- 25 GB of free hard drive space
The Udacity provided virtual machine has ROS and Dataspeed DBW already installed, so you can skip the next two steps if you are using this.
Follow these instructions to install ROS
- ROS Kinetic if you have Ubuntu 16.04.
- ROS Indigo if you have Ubuntu 14.04.
Dataspeed DBW
- Use this option to install the SDK on a workstation that already has ROS installed: One Line SDK Install (binary)
Download the Udacity Simulator.

Usage

Clone the project repository

 bash 
 git clone https://github.com/alex-n-braun/carla.hal.git

Install python dependencies

 bash
 cd carla.hal
 pip install -r requirements.txt

Make and run styx

 bash
 cd ros
 catkin_make
 source devel/setup.sh
 roslaunch launch/styx.launch

Run the simulator

Real world testing

Download training bag that was recorded on the Udacity self-driving car (a bag demonstraing the correct predictions in autonomous mode can be found here)

Unzip the file

 bash
 unzip traffic_light_bag_files.zip

Play the bag file

 bash
 rosbag play -l traffic_light_bag_files/loop_with_traffic_light.bag

Launch your project in site mode

 bash
 cd CarND-Capstone/ros
 roslaunch launch/site.launch

Confirm that traffic light detection works on real life images

Work-Arounds

if you are experiencing an issue of the car not moving on launch in the current master branch a quick fix is to replace

    sio = socketio.Server()

on server.py with

    eventlet.monkey_patch()
    sio = socketio.Server(async_mode='eventlet')

Final Remarks

Great teamwork! Great fun!

YCSU/carla.hal