Carla is an open source simulator for autonomous driving research available at http://carla.org/
This package contains an implemantation of a rule based parking motion. It is an open-loop approach for the task, given that no information are retrieved from sensors and crashes can occur.
The example spawns 2 cars in predefined positions (leaving enough space between them) and the ego vehicle is blindly controlled to fit the parking spot.
this gif shows the implemented routine with a time scale x5
<catkin_ws> = name of your catkin workspace
cd ~/<catkin_ws>/src
git clone https://github.com/vignif/carla_parking.git
cd ..
catkin_make
run carla with ./CarlaUE4.sh as from https://carla.readthedocs.io/en/latest/start_quickstart/
run carla ros bridge with
roslaunch carla_ros_bridge carla_ros_bridge.launch
source devel/setup.bash
rosrun carla_park park.py
park.py implements a basic parking policy for autonomous cars based on geometric information This script spawns: -one ego vehicle in x=61.4, y=-7.62, z=0.05 -two vehicle inside the parking location a side of the ego vehicle respectively in x=60.4, y=-10.62, z=0.05 and x=47.0, y=-10.62, z=0.05 -a camera attached to the ego vehicle for future sensor based parking policy
all the vehicles are rotated of 180' in order to be correctly in line with the street
tested env:
- Ubuntu 18.04.3 LTS
- UnrealEngine 4.22
- ROS melodic
- carla 0.9.7
- Copyright 2021 © Francesco Vigni