Minimalistic Self Driving Car Simulation with basic Sensors and Perception Tasks
Accept software from packages.ros.org.
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
Set up keys
sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
Debian up-to-date:
sudo apt-get update
Install full ROS version:
sudo apt-get install ros-kinetic-desktop-full
You will need to initialize rosdep:
sudo rosdep init
rosdep update
It's convenient if the ROS environment variables are automatically added to your bash session every time a new shell is launched:
echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc source ~/.bashrc
Setup the packages list:
sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
Set up your keys
wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
Make sure your Debian package index is up-to-date:
sudo apt-get update
Install gazebo 8 and dependencies following next order:
sudo apt-get install libignition-math3
sudo apt-get install gazebo8
sudo apt-get install ros-kinetic-gazebo8-ros-pkgs
Gazebo packages:
sudo apt-get install libignition-transport4 libignition-transport4-dev libignition-msgs0-dev
ROS packages:
sudo apt-get install ros-kinetic-laser-geometry ros-kinetic-joint-state-publisher
mkdir -p catkin_ws/src
cd catkin_ws/src
git clone https://github.com/jediofgever/ROS_Self_Driving_Car_Sim.git
cd ..
catkin_make
Two steps here, first run simulator, NOTE; make sure you source this file de- vel/setup.bash, in your workspace
source devel/setup.bash
roslaunch simulator city.launch
Now You should see Gazebo opening with Car at the center, This might warm your computer. in a seperate terminal launch perception and RVIZ, again source devel/setup.bash
source devel/setup.bash
roslaunch perception perception.launch
Now You should see RVIZ open with Car Model, Detected Obstacles , LI- DAR pointclouds ,Local Costmap and Simulated Camera.